From 9567a711f4f3556ec4b1fe4fe0489a5f8bdc62e2 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Fri, 20 Dec 2024 10:50:48 +0100
Subject: [PATCH 01/26] Place conan deps inside project and change .gitignore
---
.gitignore | 4 +++-
utils/ci/scripts/15_prepare_thirdParty.sh | 2 +-
2 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/.gitignore b/.gitignore
index fc6f72e2..0ef100c2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,4 +6,6 @@ __pycache__
generator.log
*.orig
*.bkp
-.devcontainer
\ No newline at end of file
+.devcontainer
+build
+deps
\ No newline at end of file
diff --git a/utils/ci/scripts/15_prepare_thirdParty.sh b/utils/ci/scripts/15_prepare_thirdParty.sh
index 05617eb1..1273e1c3 100755
--- a/utils/ci/scripts/15_prepare_thirdParty.sh
+++ b/utils/ci/scripts/15_prepare_thirdParty.sh
@@ -148,4 +148,4 @@ done
# Command to install all the packages into the required folder.
# --build=missing argument is necessary as at this point protobuf is checked and if not available it builds from conancenter
-"$PYTHON_COMMAND" -m conans.conan install $file --build=missing --deployer=direct_deploy -of="$REPO_ROOT/../deps" -pr:a "$conanprofile" || exit 1
\ No newline at end of file
+"$PYTHON_COMMAND" -m conans.conan install $file --build=missing --deployer=direct_deploy -of="$REPO_ROOT/deps" -pr:a "$conanprofile" || exit 1
\ No newline at end of file
--
GitLab
From f8f9662a8e2f774e2f0a8fe1c24315790b5ae03b Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Fri, 20 Dec 2024 10:51:39 +0100
Subject: [PATCH 02/26] Change mantle_api branch for traffic area
---
engine/bazel/deps.bzl | 46 +++++++++++++++++++
.../conan/recipe/mantleapi/all/conandata.yml | 4 ++
.../openscenario_engine/all/conanfile.py | 2 +-
3 files changed, 51 insertions(+), 1 deletion(-)
create mode 100644 engine/bazel/deps.bzl
diff --git a/engine/bazel/deps.bzl b/engine/bazel/deps.bzl
new file mode 100644
index 00000000..cc30aa01
--- /dev/null
+++ b/engine/bazel/deps.bzl
@@ -0,0 +1,46 @@
+load("@bazel_tools//tools/build_defs/repo:http.bzl", "http_archive")
+load("@bazel_tools//tools/build_defs/repo:utils.bzl", "maybe")
+
+ECLIPSE_GITLAB = "https://gitlab.eclipse.org/eclipse"
+
+MANTLE_API_TAG = "v6.0.0"
+UNITS_TAG = "2.3.3"
+YASE_TAG = "v0.0.1"
+
+MANTLE_API_TAG = "15bf75e4e3238afa5f1aa85c4054f37804375453"
+
+def osc_engine_deps():
+ """Load dependencies"""
+ maybe(
+ http_archive,
+ name = "mantle_api",
+ url = ECLIPSE_GITLAB + "/openpass/mantle-api/-/archive/{tag}/mantle-api-{tag}.tar.gz".format(tag = MANTLE_API_TAG),
+ sha256 = "9f898c45b0a0541a553e6d1a7721215d76516daf9ad70658aab40d669bd2364d",
+ strip_prefix = "mantle-api-{tag}".format(tag = MANTLE_API_TAG),
+ type = "tar.gz",
+ )
+
+ maybe(
+ http_archive,
+ name = "units_nhh",
+ url = "https://github.com/nholthaus/units/archive/refs/tags/v{tag}.tar.gz".format(tag = UNITS_TAG),
+ sha256 = "b1f3c1dd11afa2710a179563845ce79f13ebf0c8c090d6aa68465b18bd8bd5fc",
+ strip_prefix = "./units-{tag}".format(tag = UNITS_TAG),
+ build_file = "//bazel:units.BUILD",
+ )
+
+ maybe(
+ http_archive,
+ name = "yase",
+ url = ECLIPSE_GITLAB + "/openpass/yase/-/archive/{tag}/yase-{tag}.tar.gz".format(tag = YASE_TAG),
+ sha256 = "243d710172dff4c4e7ab95e5bd68a6d8335cf8a3fdd1efa87d118250e3b85ee3",
+ strip_prefix = "yase-{tag}".format(tag = YASE_TAG),
+ )
+
+ http_archive(
+ name = "open_scenario_parser",
+ build_file = "//bazel:openscenario_api.BUILD",
+ url = "https://github.com/RA-Consulting-GmbH/openscenario.api.test/releases/download/v1.4.0/OpenSCENARIO_API_LinuxSharedRelease_2024.11.18.tgz",
+ sha256 = "7a4cdb82ccaaeed5fccf12efd94cf4f9c9d3ac0fc7d7feedd4c0babe2404f853",
+ strip_prefix = "OpenSCENARIO_API_LinuxSharedRelease",
+ )
diff --git a/utils/ci/conan/recipe/mantleapi/all/conandata.yml b/utils/ci/conan/recipe/mantleapi/all/conandata.yml
index 30e9ad2a..56d0b1a5 100644
--- a/utils/ci/conan/recipe/mantleapi/all/conandata.yml
+++ b/utils/ci/conan/recipe/mantleapi/all/conandata.yml
@@ -41,6 +41,10 @@ sources:
url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git
sha256: "a5530013edcd2028ce48d1dcd7e90a512c158f27"
+ "6.0.1":
+ url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git
+ sha256: "4c04afb373d26b9e4ddcae3fd920f6c5543a19f2"
+
"8.0.0":
url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git
sha256: "18eadd8ad4f3ddd78c955ce3d4d637a8ff912091"
diff --git a/utils/ci/conan/recipe/openscenario_engine/all/conanfile.py b/utils/ci/conan/recipe/openscenario_engine/all/conanfile.py
index 43f2201c..b79fb3fa 100644
--- a/utils/ci/conan/recipe/openscenario_engine/all/conanfile.py
+++ b/utils/ci/conan/recipe/openscenario_engine/all/conanfile.py
@@ -25,7 +25,7 @@ class OpenScenarioEngineConan(ConanFile):
settings = "os", "compiler", "build_type", "arch"
options = {"shared": [True, False],
"fPIC": [True, False],
- "MantleAPI_version":["ANY"],
+ "MantleAPI_version":["6.0.1"],
"openscenario_api_version":["ANY"],
"units_version":["ANY"],
"Yase_version":["ANY"]
--
GitLab
From 336edc8588571139cb0249544ff004e517568b49 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Fri, 20 Dec 2024 10:55:51 +0100
Subject: [PATCH 03/26] Fix "entitiy" typo
---
engine/tests/Utils/ControllerCreatorTest.cpp | 8 ++++----
generator/model/v1_3.json | 2 +-
2 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/engine/tests/Utils/ControllerCreatorTest.cpp b/engine/tests/Utils/ControllerCreatorTest.cpp
index 2b5bc9ec..93f11830 100644
--- a/engine/tests/Utils/ControllerCreatorTest.cpp
+++ b/engine/tests/Utils/ControllerCreatorTest.cpp
@@ -42,11 +42,11 @@ public:
mockController{}
{
ON_CALL(mockController, GetName()).WillByDefault(ReturnRef(TEST_CONTROLLER_NAME));
- ON_CALL(mockController, GetUniqueId()).WillByDefault(testing::Invoke([] {
+ ON_CALL(mockController, GetUniqueId()).WillByDefault(testing::Invoke([]
+ {
// id will be incremented at every call, starting with 1000
static mantle_api::UniqueId id{1000};
- return id++;
- }));
+ return id++; }));
}
void SET_VEHICLE_MOCK_NAME_AND_ID(const std::string& name, mantle_api::UniqueId id)
@@ -168,7 +168,7 @@ TEST_F(ControllerCreator, GivenScenarioObjectWithController_WhenCreateIsCalled_T
controller_creator.CreateControllers(scenario_objects);
}
-TEST_F(ControllerCreator, GivenScenarioObjectWithController_WhenCreateIsCalled_ThenControllerServiceContainsEntitiyControllers)
+TEST_F(ControllerCreator, GivenScenarioObjectWithController_WhenCreateIsCalled_ThenControllerServiceContainsEntityControllers)
{
constexpr mantle_api::UniqueId ENTITY_ID = 1234;
SETUP_ENTITY("test_entity", ENTITY_ID, true, true);
diff --git a/generator/model/v1_3.json b/generator/model/v1_3.json
index dc20d2c9..e74e23b4 100755
--- a/generator/model/v1_3.json
+++ b/generator/model/v1_3.json
@@ -10545,7 +10545,7 @@
"ScenarioObjectTemplate": {
"isModelGroupChoice": false,
"properties": {
- "entitiyObject": {
+ "entityObject": {
"isSimpleContentProperty": false,
"isList": false,
"isOptional": false,
--
GitLab
From b054b27025d99828d7d1cadc9d5bd93fc82e6dbd Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Fri, 20 Dec 2024 10:56:18 +0100
Subject: [PATCH 04/26] Rework TrafficAreaAction Spawning
Add Spawning Utils
---
engine/cmake/generated_files.cmake | 23 +--
.../GenericAction/TrafficAreaAction.h | 61 --------
.../GenericAction/TrafficAreaAction_base.h | 47 ------
.../GenericAction/TrafficAreaAction_impl.cpp | 27 ----
.../GenericAction/TrafficAreaAction_impl.h | 27 ----
.../GenericAction/TrafficSourceAction.h | 6 +-
.../GenericAction/TrafficSourceAction_base.h | 2 +-
.../ConvertScenarioTrafficArea.cpp | 51 ++++++
.../OscToMantle/ConvertScenarioTrafficArea.h | 15 +-
.../ConvertScenarioTrafficDistribution.cpp | 46 ++++++
.../ConvertScenarioTrafficDistribution.h | 18 ++-
engine/src/Storyboard/GenericAction/Action.h | 119 ++++++++++++++
.../ActivateControllerAction.cpp | 76 +++++----
.../GenericAction/ActivateControllerAction.h | 62 ++++++--
.../ActivateControllerAction_base.h | 57 -------
.../ActivateControllerAction_impl.cpp | 47 ------
.../ActivateControllerAction_impl.h | 29 ----
.../GenericAction/LightStateAction.cpp | 65 ++++++++
.../GenericAction/LightStateAction.h | 81 ++++++----
.../GenericAction/LightStateAction_base.h | 48 ------
.../GenericAction/LightStateAction_impl.cpp | 38 -----
.../GenericAction/LightStateAction_impl.h | 33 ----
.../GenericAction/TrafficAreaAction.cpp | 147 ++++++++++++++++++
.../GenericAction/TrafficAreaAction.h | 76 +++++++++
engine/src/Utils/Spawning/Common.h | 45 ++++++
engine/src/Utils/Spawning/Interval.cpp | 27 ++++
engine/src/Utils/Spawning/Interval.h | 112 +++++++++++++
engine/src/Utils/Spawning/Iterable.h | 131 ++++++++++++++++
engine/src/Utils/Spawning/Length.cpp | 52 +++++++
engine/src/Utils/Spawning/Length.h | 96 ++++++++++++
engine/src/Utils/Spawning/SpawnZone.cpp | 104 +++++++++++++
engine/src/Utils/Spawning/SpawnZone.h | 97 ++++++++++++
engine/src/Utils/Spawning/Transform.h | 49 ++++++
.../ActivateControllerActionTest.cpp | 2 +-
34 files changed, 1396 insertions(+), 520 deletions(-)
delete mode 100644 engine/gen/Storyboard/GenericAction/TrafficAreaAction.h
delete mode 100644 engine/gen/Storyboard/GenericAction/TrafficAreaAction_base.h
delete mode 100644 engine/gen/Storyboard/GenericAction/TrafficAreaAction_impl.cpp
delete mode 100644 engine/gen/Storyboard/GenericAction/TrafficAreaAction_impl.h
create mode 100644 engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp
create mode 100644 engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
create mode 100644 engine/src/Storyboard/GenericAction/Action.h
delete mode 100644 engine/src/Storyboard/GenericAction/ActivateControllerAction_base.h
delete mode 100644 engine/src/Storyboard/GenericAction/ActivateControllerAction_impl.cpp
delete mode 100644 engine/src/Storyboard/GenericAction/ActivateControllerAction_impl.h
create mode 100644 engine/src/Storyboard/GenericAction/LightStateAction.cpp
delete mode 100644 engine/src/Storyboard/GenericAction/LightStateAction_base.h
delete mode 100644 engine/src/Storyboard/GenericAction/LightStateAction_impl.cpp
delete mode 100644 engine/src/Storyboard/GenericAction/LightStateAction_impl.h
create mode 100644 engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
create mode 100644 engine/src/Storyboard/GenericAction/TrafficAreaAction.h
create mode 100644 engine/src/Utils/Spawning/Common.h
create mode 100644 engine/src/Utils/Spawning/Interval.cpp
create mode 100644 engine/src/Utils/Spawning/Interval.h
create mode 100644 engine/src/Utils/Spawning/Iterable.h
create mode 100644 engine/src/Utils/Spawning/Length.cpp
create mode 100644 engine/src/Utils/Spawning/Length.h
create mode 100644 engine/src/Utils/Spawning/SpawnZone.cpp
create mode 100644 engine/src/Utils/Spawning/SpawnZone.h
create mode 100644 engine/src/Utils/Spawning/Transform.h
diff --git a/engine/cmake/generated_files.cmake b/engine/cmake/generated_files.cmake
index a1d1a403..7a4e54a1 100644
--- a/engine/cmake/generated_files.cmake
+++ b/engine/cmake/generated_files.cmake
@@ -133,7 +133,6 @@ list(APPEND ${PROJECT_NAME}_SOURCES
gen/Storyboard/GenericAction/RandomRouteAction_impl.cpp
gen/Storyboard/GenericAction/SetMonitorAction_impl.cpp
gen/Storyboard/GenericAction/SpeedProfileAction_impl.cpp
- gen/Storyboard/GenericAction/TrafficAreaAction_impl.cpp
gen/Storyboard/GenericAction/TrafficSignalControllerAction_impl.cpp
gen/Storyboard/GenericAction/TrafficSourceAction_impl.cpp
gen/Storyboard/GenericAction/TrafficStopAction_impl.cpp
@@ -163,7 +162,9 @@ list(APPEND ${PROJECT_NAME}_SOURCES
src/Conversion/OscToMantle/ConvertScenarioSpeedActionTarget.cpp
src/Conversion/OscToMantle/ConvertScenarioTimeReference.cpp
src/Conversion/OscToMantle/ConvertScenarioTimeToCollisionConditionTarget.cpp
+ src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp
src/Conversion/OscToMantle/ConvertScenarioTrafficDefinition.cpp
+ src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
src/Conversion/OscToMantle/ConvertScenarioTrafficSignalController.cpp
src/Conversion/OscToMantle/ConvertScenarioTrajectoryRef.cpp
src/Conversion/OscToMantle/ConvertScenarioTransitionDynamics.cpp
@@ -211,13 +212,13 @@ list(APPEND ${PROJECT_NAME}_SOURCES
src/Storyboard/ByValueCondition/UserDefinedValueCondition_impl.cpp
src/Storyboard/GenericAction/AcquirePositionAction_impl.cpp
src/Storyboard/GenericAction/ActivateControllerAction.cpp
- src/Storyboard/GenericAction/ActivateControllerAction_impl.cpp
src/Storyboard/GenericAction/AssignControllerAction_impl.cpp
src/Storyboard/GenericAction/AssignRouteAction_impl.cpp
src/Storyboard/GenericAction/CustomCommandAction_impl.cpp
src/Storyboard/GenericAction/EnvironmentAction_impl.cpp
- src/Storyboard/GenericAction/LightStateAction_impl.cpp
+ src/Storyboard/GenericAction/LightStateAction.cpp
src/Storyboard/GenericAction/TeleportAction_impl.cpp
+ src/Storyboard/GenericAction/TrafficAreaAction.cpp
src/Storyboard/GenericAction/TrafficSignalStateAction_impl.cpp
src/Storyboard/GenericAction/TrafficSinkAction_base.h
src/Storyboard/GenericAction/TrafficSinkAction_impl.cpp
@@ -231,6 +232,9 @@ list(APPEND ${PROJECT_NAME}_SOURCES
src/Storyboard/MotionControlAction/LateralDistanceAction_impl.cpp
src/Storyboard/MotionControlAction/LongitudinalDistanceAction_impl.cpp
src/Storyboard/MotionControlAction/SpeedAction_impl.cpp
+ src/Utils/Spawning/Interval.cpp
+ src/Utils/Spawning/Length.cpp
+ src/Utils/Spawning/SpawnZone.cpp
src/Utils/ConditionEdgeEvaluator.cpp
src/Utils/ControllerCreator.cpp
src/Utils/ControllerService.cpp
@@ -458,9 +462,6 @@ list(APPEND ${PROJECT_NAME}_HEADERS
gen/Storyboard/GenericAction/TeleportAction.h
gen/Storyboard/GenericAction/TeleportAction_base.h
gen/Storyboard/GenericAction/TeleportAction_impl.h
- gen/Storyboard/GenericAction/TrafficAreaAction.h
- gen/Storyboard/GenericAction/TrafficAreaAction_base.h
- gen/Storyboard/GenericAction/TrafficAreaAction_impl.h
gen/Storyboard/GenericAction/TrafficSignalControllerAction.h
gen/Storyboard/GenericAction/TrafficSignalControllerAction_base.h
gen/Storyboard/GenericAction/TrafficSignalControllerAction_impl.h
@@ -573,12 +574,9 @@ list(APPEND ${PROJECT_NAME}_HEADERS
src/Storyboard/ByEntityCondition/TraveledDistanceCondition_impl.h
src/Storyboard/ByValueCondition/UserDefinedValueCondition_impl.h
src/Storyboard/GenericAction/ActivateControllerAction.h
- src/Storyboard/GenericAction/ActivateControllerAction_base.h
- src/Storyboard/GenericAction/ActivateControllerAction_impl.h
src/Storyboard/GenericAction/CustomCommandAction_impl.h
src/Storyboard/GenericAction/LightStateAction.h
- src/Storyboard/GenericAction/LightStateAction_base.h
- src/Storyboard/GenericAction/LightStateAction_impl.h
+ src/Storyboard/GenericAction/TrafficAreaAction.h
src/Storyboard/GenericAction/TrafficSignalAction.h
src/Storyboard/GenericAction/TrafficSwarmAction.h
src/Storyboard/GenericAction/TrafficSwarmAction_base.h
@@ -592,6 +590,11 @@ list(APPEND ${PROJECT_NAME}_HEADERS
src/Storyboard/MotionControlAction/LongitudinalDistanceAction_base.h
src/Storyboard/MotionControlAction/MotionControlAction.h
src/Storyboard/MotionControlAction/SpeedAction_impl.h
+ src/Utils/Spawning/Common.h
+ src/Utils/Spawning/Interval.h
+ src/Utils/Spawning/Length.h
+ src/Utils/Spawning/SpawnZone.h
+ src/Utils/Spawning/Transform.h
src/Utils/ConditionEdgeEvaluator.h
src/Utils/Constants.h
src/Utils/ControllerCreator.h
diff --git a/engine/gen/Storyboard/GenericAction/TrafficAreaAction.h b/engine/gen/Storyboard/GenericAction/TrafficAreaAction.h
deleted file mode 100644
index 0a92698d..00000000
--- a/engine/gen/Storyboard/GenericAction/TrafficAreaAction.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021-2024 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/Execution/i_environment.h>
-#include <agnostic_behavior_tree/action_node.h>
-#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
-
-#include <cassert>
-#include <utility>
-
-#include "Storyboard/GenericAction/TrafficAreaAction_impl.h"
-
-namespace OpenScenarioEngine::v1_3::Node
-{
-class TrafficAreaAction : public yase::ActionNode
-{
-public:
- TrafficAreaAction(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrafficAreaAction> trafficAreaAction)
- : yase::ActionNode{"TrafficAreaAction"},
- trafficAreaAction_{trafficAreaAction}
- {
- }
-
- void onInit() override{};
-
-private:
- yase::NodeStatus tick() override
- {
- assert(impl_);
- const auto is_finished = impl_->Step();
- return is_finished ? yase::NodeStatus::kSuccess : yase::NodeStatus::kRunning;
- };
-
- void lookupAndRegisterData(yase::Blackboard& blackboard) final
- {
- std::shared_ptr<mantle_api::IEnvironment> environment = blackboard.get<std::shared_ptr<mantle_api::IEnvironment>>("Environment");
-
- impl_ = std::make_unique<OpenScenarioEngine::v1_3::TrafficAreaAction>(
- OpenScenarioEngine::v1_3::TrafficAreaAction::Values{
- trafficAreaAction_->GetContinuous(),
- trafficAreaAction_->GetNumberOfEntities(),
- ConvertScenarioTrafficDistribution(trafficAreaAction_->GetTrafficDistribution()),
- ConvertScenarioTrafficArea(trafficAreaAction_->GetTrafficArea())},
- OpenScenarioEngine::v1_3::TrafficAreaAction::Interfaces{
- environment});
- }
-
- std::unique_ptr<OpenScenarioEngine::v1_3::TrafficAreaAction> impl_{nullptr};
- std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrafficAreaAction> trafficAreaAction_;
-};
-
-} // namespace OpenScenarioEngine::v1_3::Node
diff --git a/engine/gen/Storyboard/GenericAction/TrafficAreaAction_base.h b/engine/gen/Storyboard/GenericAction/TrafficAreaAction_base.h
deleted file mode 100644
index 4768c8e8..00000000
--- a/engine/gen/Storyboard/GenericAction/TrafficAreaAction_base.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021-2024 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/Execution/i_environment.h>
-
-#include "Conversion/OscToMantle/ConvertScenarioTrafficArea.h"
-#include "Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h"
-
-namespace OpenScenarioEngine::v1_3
-{
-
-class TrafficAreaActionBase
-{
-public:
- struct Values
- {
- bool continuous;
- unsigned int numberOfEntities;
- TrafficDistribution trafficDistribution;
- TrafficArea trafficArea;
- };
- struct Interfaces
- {
- std::shared_ptr<mantle_api::IEnvironment> environment;
- };
-
- TrafficAreaActionBase(Values values, Interfaces interfaces)
- : values{std::move(values)},
- mantle{std::move(interfaces)} {};
- virtual ~TrafficAreaActionBase() = default;
- virtual bool Step() = 0;
-
-protected:
- Values values;
- Interfaces mantle;
-};
-
-} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
diff --git a/engine/gen/Storyboard/GenericAction/TrafficAreaAction_impl.cpp b/engine/gen/Storyboard/GenericAction/TrafficAreaAction_impl.cpp
deleted file mode 100644
index 2c7b6a75..00000000
--- a/engine/gen/Storyboard/GenericAction/TrafficAreaAction_impl.cpp
+++ /dev/null
@@ -1,27 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021-2024 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 "Storyboard/GenericAction/TrafficAreaAction_impl.h"
-
-#include "Utils/Logger.h"
-
-namespace OpenScenarioEngine::v1_3
-{
-
-bool TrafficAreaAction::Step()
-{
- // Note:
- // - Access to values parse to mantle/ose datatypes: this->values.xxx
- // - Access to mantle interfaces: this->mantle.xxx
- Logger::Error("Method TrafficAreaAction::Step() not implemented yet (returning \"true\" by default)");
- return true;
-}
-
-} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/gen/Storyboard/GenericAction/TrafficAreaAction_impl.h b/engine/gen/Storyboard/GenericAction/TrafficAreaAction_impl.h
deleted file mode 100644
index 60371a16..00000000
--- a/engine/gen/Storyboard/GenericAction/TrafficAreaAction_impl.h
+++ /dev/null
@@ -1,27 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021-2024 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 "Storyboard/GenericAction/TrafficAreaAction_base.h"
-
-namespace OpenScenarioEngine::v1_3
-{
-
-class TrafficAreaAction : public TrafficAreaActionBase
-{
-public:
- TrafficAreaAction(Values values, Interfaces interfaces)
- : TrafficAreaActionBase{std::move(values), std::move(interfaces)} {};
-
- bool Step() override;
-};
-
-} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
diff --git a/engine/gen/Storyboard/GenericAction/TrafficSourceAction.h b/engine/gen/Storyboard/GenericAction/TrafficSourceAction.h
index 2a582a7a..dfbcfdf4 100644
--- a/engine/gen/Storyboard/GenericAction/TrafficSourceAction.h
+++ b/engine/gen/Storyboard/GenericAction/TrafficSourceAction.h
@@ -55,9 +55,9 @@ private:
[=]()
{ return ConvertScenarioPosition(environment, trafficSourceAction_->GetPosition()); },
ConvertScenarioTrafficDefinition(trafficSourceAction_->GetTrafficDefinition()),
- ConvertScenarioTrafficDistribution(trafficSourceAction_->GetTrafficDistribution())},
- OpenScenarioEngine::v1_3::TrafficSourceAction::Interfaces{
- environment});
+ ConvertScenarioTrafficDistribution(trafficSourceAction_->GetTrafficDistribution()) //
+ },
+ OpenScenarioEngine::v1_3::TrafficSourceAction::Interfaces{environment});
}
std::unique_ptr<OpenScenarioEngine::v1_3::TrafficSourceAction> impl_{nullptr};
diff --git a/engine/gen/Storyboard/GenericAction/TrafficSourceAction_base.h b/engine/gen/Storyboard/GenericAction/TrafficSourceAction_base.h
index afffc0b2..45bce206 100644
--- a/engine/gen/Storyboard/GenericAction/TrafficSourceAction_base.h
+++ b/engine/gen/Storyboard/GenericAction/TrafficSourceAction_base.h
@@ -32,7 +32,7 @@ public:
double velocity;
std::function<std::optional<mantle_api::Pose>()> GetPosition;
TrafficDefinition trafficDefinition;
- TrafficDistribution trafficDistribution;
+ TrafficDistributions trafficDistributions;
};
struct Interfaces
{
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp
new file mode 100644
index 00000000..9828f445
--- /dev/null
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp
@@ -0,0 +1,51 @@
+
+/********************************************************************************
+ * Copyright (c) 2024 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 "ConvertScenarioTrafficArea.h"
+
+#include "Utils/Spawning/Transform.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+struct ToLaneRestriction
+{
+ mantle_api::RoadCursor::LaneRestriction operator()(const NET_ASAM_OPENSCENARIO::v1_3::ILane& lane) const
+ {
+ return {lane.GetId()};
+ }
+};
+
+struct ToRoadCursor
+{
+ mantle_api::RoadCursor operator()(const NET_ASAM_OPENSCENARIO::v1_3::IRoadCursor& cursor) const
+ {
+ return {units::length::meter_t{cursor.GetS()}, cursor.GetRoadId(), TransformSharedPointers(cursor.GetLane(), ToLaneRestriction{})};
+ }
+};
+
+struct ToRoadRange
+{
+ mantle_api::RoadRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IRoadRange& range) const
+ {
+ return {(range.GetRoadCursorSize() > 1 && range.GetLength() == .0) ? std::nullopt : std::optional<units::length::meter_t>{range.GetLength()},
+ TransformSharedPointers(range.GetRoadCursor(), ToRoadCursor{})};
+ }
+};
+
+TrafficArea ConvertScenarioTrafficArea(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrafficArea>& trafficArea)
+{
+ if (trafficArea->GetPolygon() != nullptr)
+ {
+ throw std::runtime_error("ConvertScenarioTrafficArea: Conversion of polygon not yet supported");
+ }
+ return TransformSharedPointers(trafficArea->GetRoadRange(), ToRoadRange{});
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.h b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.h
index 6e615fd8..cbc3b3be 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.h
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.h
@@ -11,20 +11,15 @@
#pragma once
+#include <MantleAPI/Traffic/road_range.h>
#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
#include <memory>
-#include <string>
+#include <vector>
namespace OpenScenarioEngine::v1_3
{
-struct TrafficArea
-{
-};
-
-inline TrafficArea ConvertScenarioTrafficArea(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrafficArea>& /*trafficArea*/)
-{
- return {};
-}
+using TrafficArea = std::vector<mantle_api::RoadRange>;
-} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
+TrafficArea ConvertScenarioTrafficArea(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrafficArea>&);
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
new file mode 100644
index 00000000..04461351
--- /dev/null
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
@@ -0,0 +1,46 @@
+/********************************************************************************
+ * Copyright (c) 2024 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 "ConvertScenarioTrafficDistribution.h"
+
+#include "Utils/Spawning/Transform.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+struct ToEntities
+{
+ std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject> operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityDistributionEntry& entry) const
+ {
+ return entry.GetScenarioObjectTemplate()->GetEntityObject();
+ }
+
+ std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>> operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry& entry) const
+ {
+ return {TransformSharedPointers(entry.GetEntityDistribution()->GetEntityDistributionEntry(), *this)};
+ }
+};
+
+struct ToTrafficDistribution
+{
+ TrafficDistribution operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry& entry) const
+ {
+ return {TransformSharedPointers(entry.GetEntityDistribution()->GetEntityDistributionEntry(), [](const NET_ASAM_OPENSCENARIO::v1_3::IEntityDistributionEntry& entry)
+ { return entry.GetScenarioObjectTemplate()->GetEntityObject(); }),
+ entry.GetWeight()};
+ }
+};
+
+TrafficDistributions ConvertScenarioTrafficDistribution(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistribution>& distribution)
+{
+ decltype(auto) entries{distribution->GetTrafficDistributionEntry()};
+ return {TransformSharedPointers(entries, ToTrafficDistribution{}),
+ TransformSharedPointers(entries, ToAccumulatedWeight{})};
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
index e3c7abcf..ae7421b7 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
@@ -1,4 +1,3 @@
-
/********************************************************************************
* Copyright (c) 2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
*
@@ -12,19 +11,26 @@
#pragma once
#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
+#include <units.h>
#include <memory>
-#include <string>
+#include <vector>
+
+#include "Utils/Spawning/Length.h"
namespace OpenScenarioEngine::v1_3
{
struct TrafficDistribution
{
+ std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>> entities;
+ units::dimensionless::scalar_t weight;
};
-inline TrafficDistribution ConvertScenarioTrafficDistribution(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistribution>& /*trafficDistribution*/)
+struct TrafficDistributions
{
- return {};
-}
+ std::vector<TrafficDistribution> distributions;
+ std::vector<units::dimensionless::scalar_t> weights;
+};
-} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
+TrafficDistributions ConvertScenarioTrafficDistribution(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistribution>&);
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/Action.h b/engine/src/Storyboard/GenericAction/Action.h
new file mode 100644
index 00000000..d97f656d
--- /dev/null
+++ b/engine/src/Storyboard/GenericAction/Action.h
@@ -0,0 +1,119 @@
+/********************************************************************************
+ * Copyright (c) 2024 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 <agnostic_behavior_tree/action_node.h>
+
+#include <string>
+#include <string_view>
+
+namespace OpenScenarioEngine::v1_3
+{
+template <typename>
+struct Interfaces
+{
+ std::shared_ptr<mantle_api::IEnvironment> environment;
+};
+
+template <typename>
+struct Values
+{
+};
+
+template <typename Instance> // CRTP
+class Action
+{
+public:
+ Action(Values<Instance> values, Interfaces<Instance> interfaces)
+ : values{std::move(values)},
+ mantle{std::move(interfaces)} {};
+
+protected:
+ Values<Instance> values;
+ Interfaces<Instance> mantle;
+};
+
+namespace Node
+{
+namespace detail
+{
+template <typename>
+struct Identifier
+{
+ static constexpr std::string_view value = "UNASSIGNED_IDENTIFIER";
+};
+} // namespace detail
+
+template <typename Type>
+constexpr std::string_view identifier = detail::Identifier<Type>::value;
+
+#define SET_NODE_IDENTIFIER(ACTION) \
+ namespace detail \
+ { \
+ template <> \
+ struct Identifier<ACTION> \
+ { \
+ static constexpr std::string_view value = #ACTION; \
+ }; \
+ }
+
+namespace detail
+{
+template <typename>
+struct Implementation
+{
+ using type = void;
+};
+} // namespace detail
+
+template <typename Type>
+using Implementation = typename detail::Implementation<Type>::type;
+
+#define SPECIALIZE_NODE_TYPE_TRAIT(TRAIT, ACTION, TYPE) \
+ namespace detail \
+ { \
+ template <> \
+ struct TRAIT<ACTION> \
+ { \
+ using type = TYPE; \
+ }; \
+ }
+
+#define SET_NODE_IMPLEMENTATION(ACTION, TYPE) SPECIALIZE_NODE_TYPE_TRAIT(Implementation, ACTION, TYPE)
+
+namespace detail
+{
+template <typename>
+struct Interface
+{
+ using type = void;
+};
+} // namespace detail
+
+template <typename Type>
+using Interface = typename detail::Interface<Type>::type;
+
+#define SET_NODE_INTERFACE(ACTION, TYPE) SPECIALIZE_NODE_TYPE_TRAIT(Interface, ACTION, TYPE)
+
+template <typename Instance>
+class ActionNode : public yase::ActionNode
+{
+public:
+ ActionNode(std::shared_ptr<Interface<Instance>> action)
+ : yase::ActionNode{std::string{identifier<Instance>}},
+ action_{action} {}
+
+protected:
+ std::unique_ptr<Implementation<Instance>> impl_{nullptr};
+ std::shared_ptr<Interface<Instance>> action_;
+};
+} // namespace Node
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/ActivateControllerAction.cpp b/engine/src/Storyboard/GenericAction/ActivateControllerAction.cpp
index 646c8cfd..aa2ccf2a 100644
--- a/engine/src/Storyboard/GenericAction/ActivateControllerAction.cpp
+++ b/engine/src/Storyboard/GenericAction/ActivateControllerAction.cpp
@@ -15,12 +15,43 @@
#include <cassert>
#include <utility>
+#include "Storyboard/GenericAction/ActivateControllerAction.h"
#include "Utils/EntityBroker.h"
+#include "Utils/EntityUtils.h"
#include "Utils/IControllerService.h"
+#include "Utils/Logger.h"
-namespace OpenScenarioEngine::v1_3::Node
+namespace OpenScenarioEngine::v1_3
{
+bool ActivateControllerAction::Step()
+{
+ const auto& entity_repository = mantle.environment->GetEntityRepository();
+
+ for (const auto& entity_name : values.entities)
+ {
+ // entities might have been despawned, leading to a dangling reference to the controllers
+ // so we check if the entity is still part of the simulation, before we access the controllers
+ if (auto entity_ref = entity_repository.Get(entity_name))
+ {
+ const auto entity_id = entity_ref->get().GetUniqueId();
+ if (const auto& entity_controllers = ose_services.controllerService->GetControllers(entity_id))
+ {
+ auto controller_id = ose_services.controllerService->GetControllerId(
+ values.controllerRef, *entity_controllers);
+ ose_services.controllerService->ChangeState(
+ entity_id, controller_id, values.lateral_state, values.longitudinal_state);
+ }
+ else
+ {
+ Logger::Error("ActivateControllerAction: No user defined controller available for " + entity_name);
+ }
+ }
+ }
+ return true;
+}
+namespace Node
+{
namespace detail
{
template <typename TargetState>
@@ -34,13 +65,6 @@ auto convert_to(bool is_set, bool value)
}
} // namespace detail
-ActivateControllerAction::ActivateControllerAction(
- std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IActivateControllerAction> activateControllerAction)
- : yase::ActionNode{"ActivateControllerAction"},
- activateControllerAction_{activateControllerAction}
-{
-}
-
void ActivateControllerAction::onInit() {}
yase::NodeStatus ActivateControllerAction::tick()
@@ -57,30 +81,22 @@ void ActivateControllerAction::lookupAndRegisterData(yase::Blackboard& blackboar
auto controllerService = blackboard.get<ControllerServicePtr>("ControllerService");
impl_ = std::make_unique<OpenScenarioEngine::v1_3::ActivateControllerAction>(
- OpenScenarioEngine::v1_3::ActivateControllerAction::Values{
+ Values<OpenScenarioEngine::v1_3::ActivateControllerAction>{
entityBroker->GetEntities(),
-
- activateControllerAction_->IsSetAnimation() ? std::make_optional<bool>(activateControllerAction_->GetAnimation()) : std::nullopt,
-
- ConvertScenarioControllerRef(activateControllerAction_->GetControllerRef()),
-
+ action_->IsSetAnimation() ? std::make_optional<bool>(action_->GetAnimation()) : std::nullopt,
+ ConvertScenarioControllerRef(action_->GetControllerRef()),
detail::convert_to<mantle_api::IController::LateralState>(
- activateControllerAction_->IsSetLateral(),
- activateControllerAction_->GetLateral()),
-
- activateControllerAction_->IsSetLighting()
- ? std::make_optional<bool>(activateControllerAction_->GetLighting())
+ action_->IsSetLateral(),
+ action_->GetLateral()),
+ action_->IsSetLighting()
+ ? std::make_optional<bool>(action_->GetLighting())
: std::nullopt,
-
detail::convert_to<mantle_api::IController::LongitudinalState>(
- activateControllerAction_->IsSetLongitudinal(),
- activateControllerAction_->GetLongitudinal())
-
- }, // Values
- OpenScenarioEngine::v1_3::ActivateControllerAction::Interfaces{
- environment},
- OpenScenarioEngine::v1_3::ActivateControllerAction::OseServices{
- controllerService});
+ action_->IsSetLongitudinal(),
+ action_->GetLongitudinal()) //
+ },
+ Interfaces<OpenScenarioEngine::v1_3::ActivateControllerAction>{environment},
+ OseServices{controllerService});
}
-
-} // namespace OpenScenarioEngine::v1_3::Node
+} // namespace Node
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/ActivateControllerAction.h b/engine/src/Storyboard/GenericAction/ActivateControllerAction.h
index 601a3d3b..a154b360 100644
--- a/engine/src/Storyboard/GenericAction/ActivateControllerAction.h
+++ b/engine/src/Storyboard/GenericAction/ActivateControllerAction.h
@@ -10,25 +10,65 @@
#pragma once
-#include <agnostic_behavior_tree/action_node.h>
-#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
+#include <MantleAPI/Execution/i_environment.h>
+#include <MantleAPI/Traffic/i_controller.h>
-#include "Storyboard/GenericAction/ActivateControllerAction_impl.h"
+#include "Action.h"
+#include "Conversion/OscToMantle/ConvertScenarioController.h"
+#include "Utils/EntityBroker.h"
+#include "Utils/IControllerService.h"
-namespace OpenScenarioEngine::v1_3::Node
+namespace OpenScenarioEngine::v1_3
{
-class ActivateControllerAction : public yase::ActionNode
+struct OseServices
+{
+ ControllerServicePtr controllerService;
+};
+
+class ActivateControllerAction;
+
+template <>
+struct Values<ActivateControllerAction>
+{
+ Entities entities;
+ std::optional<bool> animation;
+ std::optional<std::string> controllerRef;
+ mantle_api::IController::LateralState lateral_state;
+ std::optional<bool> lighting;
+ mantle_api::IController::LongitudinalState longitudinal_state;
+};
+
+class ActivateControllerAction : Action<ActivateControllerAction>
{
public:
- ActivateControllerAction(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IActivateControllerAction> activateControllerAction);
+ ActivateControllerAction(Values<ActivateControllerAction> values, Interfaces<ActivateControllerAction> interfaces, OseServices ose_services)
+ : Action<ActivateControllerAction>{std::move(values), std::move(interfaces)},
+ ose_services{std::move(ose_services)} {}
+
+ bool Step();
+
+protected:
+ OseServices ose_services;
+};
+
+namespace Node
+{
+class ActivateControllerAction;
+SET_NODE_IDENTIFIER(ActivateControllerAction)
+SET_NODE_IMPLEMENTATION(ActivateControllerAction, OpenScenarioEngine::v1_3::ActivateControllerAction)
+SET_NODE_INTERFACE(ActivateControllerAction, NET_ASAM_OPENSCENARIO::v1_3::IActivateControllerAction)
+
+class ActivateControllerAction : public ActionNode<ActivateControllerAction>
+{
+public:
+ using ActionNode<ActivateControllerAction>::ActionNode;
+
void onInit() override;
private:
yase::NodeStatus tick() override;
- void lookupAndRegisterData(yase::Blackboard& blackboard) final;
- std::unique_ptr<OpenScenarioEngine::v1_3::ActivateControllerAction> impl_{nullptr};
- std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IActivateControllerAction> activateControllerAction_;
+ void lookupAndRegisterData(yase::Blackboard& blackboard) final;
};
-
-} // namespace OpenScenarioEngine::v1_3::Node
\ No newline at end of file
+} // namespace Node
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/ActivateControllerAction_base.h b/engine/src/Storyboard/GenericAction/ActivateControllerAction_base.h
deleted file mode 100644
index bbdd2091..00000000
--- a/engine/src/Storyboard/GenericAction/ActivateControllerAction_base.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021-2024 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/Execution/i_environment.h>
-#include <MantleAPI/Traffic/i_controller.h>
-
-#include "Conversion/OscToMantle/ConvertScenarioController.h"
-#include "Utils/EntityBroker.h"
-#include "Utils/IControllerService.h"
-
-namespace OpenScenarioEngine::v1_3
-{
-class ActivateControllerActionBase
-{
-public:
- struct Values
- {
- Entities entities;
- std::optional<bool> animation;
- std::optional<std::string> controllerRef;
- mantle_api::IController::LateralState lateral_state;
- std::optional<bool> lighting;
- mantle_api::IController::LongitudinalState longitudinal_state;
- };
- struct Interfaces
- {
- std::shared_ptr<mantle_api::IEnvironment> environment;
- };
-
- struct OseServices
- {
- ControllerServicePtr controllerService;
- };
-
- ActivateControllerActionBase(Values values, Interfaces interfaces, OseServices ose_services)
- : values{std::move(values)},
- mantle{std::move(interfaces)},
- ose_services{std::move(ose_services)} {};
- virtual ~ActivateControllerActionBase() = default;
- virtual bool Step() = 0;
-
-protected:
- Values values;
- Interfaces mantle;
- OseServices ose_services;
-};
-
-} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/ActivateControllerAction_impl.cpp b/engine/src/Storyboard/GenericAction/ActivateControllerAction_impl.cpp
deleted file mode 100644
index 92d6399a..00000000
--- a/engine/src/Storyboard/GenericAction/ActivateControllerAction_impl.cpp
+++ /dev/null
@@ -1,47 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021-2024 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 "Storyboard/GenericAction/ActivateControllerAction_impl.h"
-
-#include "Utils/EntityUtils.h"
-#include "Utils/Logger.h"
-
-namespace OpenScenarioEngine::v1_3
-{
-
-bool ActivateControllerAction::Step()
-{
- const auto& entity_repository = mantle.environment->GetEntityRepository();
-
- for (const auto& entity_name : values.entities)
- {
- // entities might have been despawned, leading to a dangling reference to the controllers
- // so we check if the entity is still part of the simulation, before we access the controllers
- if (auto entity_ref = entity_repository.Get(entity_name))
- {
- const auto entity_id = entity_ref->get().GetUniqueId();
- if (const auto& entity_controllers = ose_services.controllerService->GetControllers(entity_id))
- {
- auto controller_id = ose_services.controllerService->GetControllerId(
- values.controllerRef, *entity_controllers);
- ose_services.controllerService->ChangeState(
- entity_id, controller_id, values.lateral_state, values.longitudinal_state);
- }
- else
- {
- Logger::Error("ActivateControllerAction: No user defined controller available for " + entity_name);
- }
- }
- }
-
- return true;
-}
-
-} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/ActivateControllerAction_impl.h b/engine/src/Storyboard/GenericAction/ActivateControllerAction_impl.h
deleted file mode 100644
index 701d514f..00000000
--- a/engine/src/Storyboard/GenericAction/ActivateControllerAction_impl.h
+++ /dev/null
@@ -1,29 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021-2024 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 "Storyboard/GenericAction/ActivateControllerAction_base.h"
-
-namespace OpenScenarioEngine::v1_3
-{
-class ActivateControllerAction : public ActivateControllerActionBase
-{
-public:
- ActivateControllerAction(Values values, Interfaces interfaces, OseServices ose_services)
- : ActivateControllerActionBase{
- std::move(values),
- std::move(interfaces),
- std::move(ose_services)} {};
-
- bool Step() override;
-};
-
-} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/LightStateAction.cpp b/engine/src/Storyboard/GenericAction/LightStateAction.cpp
new file mode 100644
index 00000000..7f225d0a
--- /dev/null
+++ b/engine/src/Storyboard/GenericAction/LightStateAction.cpp
@@ -0,0 +1,65 @@
+/********************************************************************************
+ * Copyright (c) 2021-2024 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 "Storyboard/GenericAction/LightStateAction.h"
+
+#include <MantleAPI/Execution/i_environment.h>
+
+#include "Conversion/OscToMantle/ConvertScenarioLightState.h"
+#include "Conversion/OscToMantle/ConvertScenarioLightType.h"
+#include "Utils/EntityUtils.h"
+#include "Utils/Logger.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+
+bool LightStateAction::Step()
+{
+ SetControlStrategy();
+ return true;
+}
+
+void LightStateAction::SetControlStrategy()
+{
+ control_strategy_->light_type = values.lightType;
+ control_strategy_->light_state = values.lightState;
+ for (const auto& actor : values.entities)
+ {
+ auto& entity = EntityUtils::GetEntityByName(mantle.environment, actor);
+ mantle.environment->UpdateControlStrategies(
+ entity.GetUniqueId(),
+ {control_strategy_});
+ }
+}
+namespace Node
+{
+yase::NodeStatus LightStateAction::tick()
+{
+ assert(impl_);
+ const auto is_finished = impl_->Step();
+ return is_finished ? yase::NodeStatus::kSuccess : yase::NodeStatus::kRunning;
+};
+
+void LightStateAction::lookupAndRegisterData(yase::Blackboard& blackboard)
+{
+ std::shared_ptr<mantle_api::IEnvironment> environment = blackboard.get<std::shared_ptr<mantle_api::IEnvironment>>("Environment");
+ const EntityBroker::Ptr entityBroker = blackboard.get<EntityBroker::Ptr>("EntityBroker");
+
+ impl_ = std::make_unique<OpenScenarioEngine::v1_3::LightStateAction>(
+ Values<OpenScenarioEngine::v1_3::LightStateAction>{
+ entityBroker->GetEntities(),
+ action_->GetTransitionTime(),
+ ConvertScenarioLightType(action_->GetLightType()),
+ ConvertScenarioLightState(action_->GetLightState()) //
+ },
+ Interfaces<OpenScenarioEngine::v1_3::LightStateAction>{environment});
+}
+} // namespace Node
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/LightStateAction.h b/engine/src/Storyboard/GenericAction/LightStateAction.h
index 3311528a..982fb916 100644
--- a/engine/src/Storyboard/GenericAction/LightStateAction.h
+++ b/engine/src/Storyboard/GenericAction/LightStateAction.h
@@ -17,47 +17,60 @@
#include <cassert>
#include <utility>
-#include "Storyboard/GenericAction/LightStateAction_impl.h"
+#include "Action.h"
#include "Utils/EntityBroker.h"
-namespace OpenScenarioEngine::v1_3::Node
+namespace OpenScenarioEngine::v1_3
{
-class LightStateAction : public yase::ActionNode
+class LightStateAction;
+
+template <>
+struct Values<LightStateAction>
+{
+ Entities entities;
+ double transitionTime;
+ mantle_api::LightType lightType;
+ mantle_api::LightState lightState;
+};
+
+template <>
+struct Interfaces<LightStateAction>
+{
+ std::shared_ptr<mantle_api::IEnvironment> environment;
+};
+
+class LightStateAction : Action<LightStateAction>
{
public:
- LightStateAction(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ILightStateAction> lightStateAction)
- : yase::ActionNode{"LightStateAction"},
- lightStateAction_{lightStateAction}
- {
- }
+ using Action<LightStateAction>::Action;
- void onInit() override{};
+ bool Step();
private:
- yase::NodeStatus tick() override
- {
- assert(impl_);
- const auto is_finished = impl_->Step();
- return is_finished ? yase::NodeStatus::kSuccess : yase::NodeStatus::kRunning;
- };
-
- void lookupAndRegisterData(yase::Blackboard& blackboard) final
- {
- std::shared_ptr<mantle_api::IEnvironment> environment = blackboard.get<std::shared_ptr<mantle_api::IEnvironment>>("Environment");
- const EntityBroker::Ptr entityBroker = blackboard.get<EntityBroker::Ptr>("EntityBroker");
-
- impl_ = std::make_unique<OpenScenarioEngine::v1_3::LightStateAction>(
- OpenScenarioEngine::v1_3::LightStateAction::Values{
- entityBroker->GetEntities(),
- lightStateAction_->GetTransitionTime(),
- ConvertScenarioLightType(lightStateAction_->GetLightType()),
- ConvertScenarioLightState(lightStateAction_->GetLightState())},
- OpenScenarioEngine::v1_3::LightStateAction::Interfaces{
- environment});
- }
-
- std::unique_ptr<OpenScenarioEngine::v1_3::LightStateAction> impl_{nullptr};
- std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ILightStateAction> lightStateAction_;
+ void SetControlStrategy();
+
+ std::shared_ptr<mantle_api::VehicleLightStatesControlStrategy> control_strategy_{
+ std::make_shared<mantle_api::VehicleLightStatesControlStrategy>()};
};
-} // namespace OpenScenarioEngine::v1_3::Node
+namespace Node
+{
+class LightStateAction;
+SET_NODE_IDENTIFIER(LightStateAction)
+SET_NODE_IMPLEMENTATION(LightStateAction, OpenScenarioEngine::v1_3::LightStateAction)
+SET_NODE_INTERFACE(LightStateAction, NET_ASAM_OPENSCENARIO::v1_3::ILightStateAction)
+
+class LightStateAction : public ActionNode<LightStateAction>
+{
+public:
+ using ActionNode<LightStateAction>::ActionNode;
+
+ void onInit() override{};
+
+private:
+ yase::NodeStatus tick() override;
+
+ void lookupAndRegisterData(yase::Blackboard& blackboard) final;
+};
+} // namespace Node
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/LightStateAction_base.h b/engine/src/Storyboard/GenericAction/LightStateAction_base.h
deleted file mode 100644
index efcd12a3..00000000
--- a/engine/src/Storyboard/GenericAction/LightStateAction_base.h
+++ /dev/null
@@ -1,48 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021-2024 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/Execution/i_environment.h>
-
-#include "Conversion/OscToMantle/ConvertScenarioLightState.h"
-#include "Conversion/OscToMantle/ConvertScenarioLightType.h"
-#include "Utils/EntityBroker.h"
-
-namespace OpenScenarioEngine::v1_3
-{
-
-class LightStateActionBase
-{
-public:
- struct Values
- {
- Entities entities;
- double transitionTime;
- mantle_api::LightType lightType;
- mantle_api::LightState lightState;
- };
- struct Interfaces
- {
- std::shared_ptr<mantle_api::IEnvironment> environment;
- };
-
- LightStateActionBase(Values values, Interfaces interfaces)
- : values{std::move(values)},
- mantle{std::move(interfaces)} {};
- virtual ~LightStateActionBase() = default;
- virtual bool Step() = 0;
-
-protected:
- Values values;
- Interfaces mantle;
-};
-
-} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
diff --git a/engine/src/Storyboard/GenericAction/LightStateAction_impl.cpp b/engine/src/Storyboard/GenericAction/LightStateAction_impl.cpp
deleted file mode 100644
index e993a670..00000000
--- a/engine/src/Storyboard/GenericAction/LightStateAction_impl.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021-2024 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 "Storyboard/GenericAction/LightStateAction_impl.h"
-
-#include "Utils/EntityUtils.h"
-#include "Utils/Logger.h"
-
-namespace OpenScenarioEngine::v1_3
-{
-
-bool LightStateAction::Step()
-{
- SetControlStrategy();
- return true;
-}
-
-void LightStateAction::SetControlStrategy()
-{
- control_strategy_->light_type = values.lightType;
- control_strategy_->light_state = values.lightState;
- for (const auto& actor : values.entities)
- {
- auto& entity = EntityUtils::GetEntityByName(mantle.environment, actor);
- mantle.environment->UpdateControlStrategies(
- entity.GetUniqueId(),
- {control_strategy_});
- }
-}
-
-} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/LightStateAction_impl.h b/engine/src/Storyboard/GenericAction/LightStateAction_impl.h
deleted file mode 100644
index 2ea1c6fb..00000000
--- a/engine/src/Storyboard/GenericAction/LightStateAction_impl.h
+++ /dev/null
@@ -1,33 +0,0 @@
-/********************************************************************************
- * Copyright (c) 2021-2024 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 "Storyboard/GenericAction/LightStateAction_base.h"
-
-namespace OpenScenarioEngine::v1_3
-{
-
-class LightStateAction : public LightStateActionBase
-{
-public:
- LightStateAction(Values values, Interfaces interfaces)
- : LightStateActionBase{std::move(values), std::move(interfaces)} {};
-
- bool Step() override;
-
-private:
- void SetControlStrategy();
-
- std::shared_ptr<mantle_api::VehicleLightStatesControlStrategy> control_strategy_{
- std::make_shared<mantle_api::VehicleLightStatesControlStrategy>()};
-};
-
-} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
new file mode 100644
index 00000000..1733fd88
--- /dev/null
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
@@ -0,0 +1,147 @@
+/********************************************************************************
+ * Copyright (c) 2021-2024 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 "Storyboard/GenericAction/TrafficAreaAction.h"
+
+#include "Conversion/OscToMantle/ConvertScenarioTrafficArea.h"
+#include "Utils/EntityCreator.h"
+#include "Utils/Logger.h"
+#include "Utils/Spawning/Length.h"
+#include "Utils/Spawning/Transform.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+void TrafficAreaAction::UpdateTrafficAreas()
+{
+ trafficAreas = Transform(values.trafficArea, [this](const mantle_api::RoadRange& range)
+ { return mantle.environment->GetTrafficAreaService().CreateTrafficArea(range); });
+ lengths = Transform(trafficAreas, ToAccumulatedLength{});
+}
+
+bool TrafficAreaAction::Step()
+{
+ // Spawn entities in a randomly selected area among this action's defined traffic areas.
+ // Selection is weighted based on the length of each area's remaining spawnable area (SpawnZone).
+
+ // Traffic distributions determine which vehicles can spawn and their likelihood of spawning. The distributions are sorted by
+ // entity length for efficient filtering in case the largest interval grows smaller than some spawnable entities. Similary, a
+ // SpawnZone tracks its largest interval (without sorting, as it would have to be reordered each time an entity is spawned).
+
+ // The general process of the spawn loop must go as follows:
+ // - Filter out the entities of all traffic distributions longer than the largest interval of all areas.
+ // (can be skipped if the last spawned entity was not on the largest interval)
+ // - Sample the entity to be spawned based on the weights of all entity distributions
+ // - Filter out the intervals of all areas shorter than the entity to be spawned
+ // - Sample the spawn position from the total length of all remaining intervals
+ // - Shrink the sampled interval interval by the front and rear offset from the entity's center to its
+ // front and rear bounds, scaling the sampled value accordingly.
+ // - Spawn the entity and update the computed area intervals and lengths.
+
+ if (values.numberOfEntities == 0) // No entities left to spawn
+ {
+ return true;
+ }
+ if (values.trafficDistributions.distributions.empty()) // No spawnable entities
+ {
+ return false;
+ }
+ if (trafficAreas.empty())
+ {
+ UpdateTrafficAreas();
+ if (trafficAreas.empty()) // No areas to spawn entities in
+ {
+ return false;
+ }
+ }
+ EntityCreator spawner{mantle.environment};
+
+ if (values.trafficDistributions.distributions.size() == 1)
+ {
+ auto& distributions{values.trafficDistributions.distributions.front()};
+ if (distributions.entities.size() == 1) // Skip sampling entities if there is only one
+ {
+ if (trafficAreas.size() == 1)
+ {
+ SpawnZones zones{trafficAreas.front(), [threshold = GetLength(distributions.entities.front())](const Interval& interval)
+ {
+ return interval.GetLength() >= threshold;
+ }};
+ while (values.numberOfEntities)
+ {
+ if (zones.empty())
+ { // No room left
+ return false;
+ }
+ }
+ }
+ }
+ }
+
+ if (trafficAreas.size() == 1) // Skip sampling areas if there is only one
+ {
+ auto& area{trafficAreas.front()};
+ // TODO: Not yet implemented
+ while (values.numberOfEntities)
+ {
+ --values.numberOfEntities;
+ }
+ return true;
+ }
+ std::vector<SpawnZones> spawnZones{Transform(trafficAreas, ToSpawnZones{})};
+ std::vector<units::length::meter_t> weights{Transform(spawnZones, ToAccumulatedLength{})};
+ while (values.numberOfEntities)
+ {
+ auto [sampleA, indexA]{Sample(weights)};
+ auto sampleB{sampleA - weights[indexA]};
+ const SpawnZones& zones{spawnZones[indexA]};
+ const auto upperBound{std::prev(std::upper_bound(std::next(zones.lengths.begin()), std::prev(zones.lengths.end()), sampleB))};
+ const auto indexB{static_cast<size_t>(std::distance(zones.lengths.begin(), upperBound))};
+ const SpawnZone& zone{zones[indexB]};
+ auto sampleC{sampleB - zones.lengths[indexB]};
+
+ // TODO: WIP
+ // spawner.CreateEntity()
+
+ --values.numberOfEntities;
+ }
+ // spawner.CreateEntity(values.trafficDistribution.entityDistribution);
+ // mantle.environment->GetEntityRepository().Create;
+
+ // Note:
+ // - Access to values parse to mantle/ose datatypes: this->values.xxx
+ // - Access to mantle interfaces: this->mantle.xxx
+ return true;
+}
+
+namespace Node
+{
+void TrafficAreaAction::onInit(){};
+
+yase::NodeStatus TrafficAreaAction::tick()
+{
+ assert(impl_);
+ const auto is_finished = impl_->Step();
+ return is_finished ? yase::NodeStatus::kSuccess : yase::NodeStatus::kRunning;
+};
+
+void TrafficAreaAction::lookupAndRegisterData(yase::Blackboard& blackboard)
+{
+ std::shared_ptr<mantle_api::IEnvironment> environment = blackboard.get<std::shared_ptr<mantle_api::IEnvironment>>("Environment");
+
+ impl_ = std::make_unique<OpenScenarioEngine::v1_3::TrafficAreaAction>(
+ Values<OpenScenarioEngine::v1_3::TrafficAreaAction>{
+ action_->GetContinuous(),
+ action_->GetNumberOfEntities(),
+ ConvertScenarioTrafficDistribution(action_->GetTrafficDistribution()),
+ ConvertScenarioTrafficArea(action_->GetTrafficArea())},
+ Interfaces<OpenScenarioEngine::v1_3::TrafficAreaAction>{environment});
+}
+} // namespace Node
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.h b/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
new file mode 100644
index 00000000..ea72bbd6
--- /dev/null
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
@@ -0,0 +1,76 @@
+/********************************************************************************
+ * Copyright (c) 2021-2024 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/Execution/i_environment.h>
+#include <MantleAPI/Traffic/i_traffic_area_service.h>
+#include <agnostic_behavior_tree/action_node.h>
+#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
+#include <units.h>
+
+#include <cassert>
+#include <utility>
+#include <vector>
+
+#include "Action.h"
+#include "Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+class TrafficAreaAction;
+
+template <>
+struct Values<TrafficAreaAction>
+{
+ bool continuous;
+ unsigned int numberOfEntities;
+ TrafficDistributions trafficDistributions;
+ std::vector<mantle_api::RoadRange> trafficArea;
+};
+
+class TrafficAreaAction : public Action<TrafficAreaAction>
+{
+public:
+ using Action<TrafficAreaAction>::Action;
+
+ bool Step();
+
+private:
+ void UpdateTrafficAreas();
+
+ std::vector<mantle_api::TrafficArea> trafficAreas;
+
+ /// The accumulated size of all traffic areas up to and including the index of the respective element.
+ /// Does not account for overlapping areas.
+ std::vector<units::length::meter_t> lengths;
+};
+
+namespace Node
+{
+class TrafficAreaAction;
+SET_NODE_IDENTIFIER(TrafficAreaAction)
+SET_NODE_IMPLEMENTATION(TrafficAreaAction, OpenScenarioEngine::v1_3::TrafficAreaAction)
+SET_NODE_INTERFACE(TrafficAreaAction, NET_ASAM_OPENSCENARIO::v1_3::ITrafficAreaAction)
+
+class TrafficAreaAction : public ActionNode<TrafficAreaAction>
+{
+public:
+ using ActionNode<TrafficAreaAction>::ActionNode;
+
+ void onInit() override;
+
+private:
+ yase::NodeStatus tick() override;
+
+ void lookupAndRegisterData(yase::Blackboard& blackboard) final;
+};
+} // namespace Node
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Common.h b/engine/src/Utils/Spawning/Common.h
new file mode 100644
index 00000000..16a5dac1
--- /dev/null
+++ b/engine/src/Utils/Spawning/Common.h
@@ -0,0 +1,45 @@
+/********************************************************************************
+ * Copyright (c) 2024 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 <units.h>
+
+#include <algorithm>
+#include <memory>
+
+namespace OpenScenarioEngine::v1_3
+{
+template <typename T>
+bool is_uninitialized(const std::weak_ptr<T>& pointer)
+{
+ return !pointer.owner_before(std::weak_ptr<T>{}) && !std::weak_ptr<T>{}.owner_before(pointer);
+}
+
+/// Functor returning the specified value when invoked.
+template <auto Value>
+struct Return
+{
+ template <typename... Input>
+ constexpr decltype(Value) operator()(Input&&...) const
+ {
+ return Value;
+ }
+};
+
+template <typename Type>
+std::pair<Type, size_t> Sample(const std::vector<Type>& range)
+{
+ const units::length::meter_t sample{range.back()}; // TODO: Use Stochastics
+ const auto upperBound{std::upper_bound(range.begin(), std::prev(range.end()), sample)};
+ const auto index{static_cast<size_t>(std::distance(range.begin(), upperBound))};
+ return {sample, index};
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Interval.cpp b/engine/src/Utils/Spawning/Interval.cpp
new file mode 100644
index 00000000..847e7ad3
--- /dev/null
+++ b/engine/src/Utils/Spawning/Interval.cpp
@@ -0,0 +1,27 @@
+/********************************************************************************
+ * Copyright (c) 2024 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 "Interval.h"
+
+#include <algorithm>
+
+#include "Common.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+void OffsetIntervals(std::vector<Interval>& intervals, units::length::meter_t frontOffset, units::length::meter_t rearOffset)
+{
+ const auto shrinkage{frontOffset - rearOffset};
+ intervals.erase(std::remove_if(intervals.begin(), intervals.end(), [shrinkage](const Interval& interval)
+ { return interval.GetLength() < shrinkage; }),
+ intervals.end());
+ std::for_each(intervals.begin(), intervals.end(), OffsetBy{frontOffset, rearOffset});
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Interval.h b/engine/src/Utils/Spawning/Interval.h
new file mode 100644
index 00000000..755fb9d4
--- /dev/null
+++ b/engine/src/Utils/Spawning/Interval.h
@@ -0,0 +1,112 @@
+/********************************************************************************
+ * Copyright (c) 2024 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/Traffic/i_traffic_area_stream.h>
+#include <units.h>
+
+#include <vector>
+
+#include "Common.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+struct Interval
+{
+ constexpr Interval(units::length::meter_t min, units::length::meter_t max)
+ : min{min}, max{max} {}
+
+ constexpr units::length::meter_t GetLength() const;
+
+ constexpr void OffsetBy(units::length::meter_t frontOffset, units::length::meter_t rearOffset);
+
+ units::length::meter_t min, max;
+};
+
+struct OffsetBy
+{
+ constexpr void operator()(Interval&) const;
+
+ units::length::meter_t frontOffset, rearOffset;
+};
+
+void OffsetIntervals(std::vector<Interval>& intervals, units::length::meter_t frontOffset, units::length::meter_t rearOffset);
+
+/// Returns all pairs of stream distances between which no entity is placed on the given stream
+std::vector<Interval> GetFreeIntervals(const mantle_api::ITrafficAreaStream&);
+} // namespace OpenScenarioEngine::v1_3
+
+namespace OpenScenarioEngine::v1_3
+{
+constexpr units::length::meter_t Interval::GetLength() const
+{
+ return max - min;
+}
+
+constexpr void Interval::OffsetBy(units::length::meter_t frontOffset, units::length::meter_t rearOffset)
+{
+ min += frontOffset;
+ max += rearOffset;
+}
+
+constexpr void OffsetBy::operator()(Interval& interval) const
+{
+ interval.OffsetBy(frontOffset, rearOffset);
+}
+
+template <typename Filter = Return<true>>
+void EmplaceInterval(std::vector<Interval>& output, Interval&& input, Filter&& filter = {})
+{
+ if constexpr (std::is_same_v<Filter, Return<true>>)
+ {
+ output.push_back(std::move(input));
+ }
+ else
+ {
+ if (filter(input))
+ {
+ output.push_back(std::move(input));
+ }
+ }
+}
+
+template <typename Filter>
+std::vector<Interval> GetFreeIntervals(const mantle_api::ITrafficAreaStream& stream, Filter&& filter)
+{
+ // TODO: The interface of the ITrafficAreaStream does not provide an efficient way to compute free intervals. One must retrieve
+ // all entities on the stream, meaning the implementation must have computed their local positions, but they are not available
+ // through the interface. ITrafficAreaStream should be expanded to provide this information without redundant computation.
+
+ std::vector<Interval> result;
+ units::length::meter_t min;
+ const units::length::meter_t max{stream.GetLength()};
+ while (min < max)
+ {
+ std::weak_ptr<mantle_api::IEntity> pointer{stream.GetEntity(mantle_api::ITrafficAreaStream::SearchDirection::kDownstream, min, max - min)};
+ if (is_uninitialized(pointer))
+ {
+ EmplaceInterval(result, {min, max}, filter);
+ break;
+ }
+ auto entity{pointer.lock()};
+ const auto length{entity->GetProperties()->bounding_box.dimension.length};
+ const auto offset{entity->GetProperties()->bounding_box.geometric_center.x};
+ auto [s, t]{stream.Convert(entity->GetPosition()).value()};
+ if (const auto entityStartDistance{s + offset - length / units::dimensionless::scalar_t{2.0}}; entityStartDistance > min)
+ {
+ EmplaceInterval(result, {min, entityStartDistance}, filter);
+ }
+ min = s + offset + length / units::dimensionless::scalar_t{2.0};
+ // TODO: This would loop endlessly if the object has a length of 0 and MIGHT loop endlessly if its offset lies outside of its bounds.
+ }
+ return result;
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Iterable.h b/engine/src/Utils/Spawning/Iterable.h
new file mode 100644
index 00000000..1801f311
--- /dev/null
+++ b/engine/src/Utils/Spawning/Iterable.h
@@ -0,0 +1,131 @@
+/********************************************************************************
+ * Copyright (c) 2024 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 <cstdint>
+
+namespace OpenScenarioEngine::v1_3
+{
+template <typename Container>
+struct Iterable
+{
+ using const_iterator = typename Container::const_iterator;
+ using iterator = typename Container::iterator;
+ using const_reference = typename Container::const_reference;
+ using reference = typename Container::reference;
+ using value_type = typename Container::value_type;
+
+ constexpr Iterable(Container&&);
+
+ constexpr const Container& GetContainer() const;
+ constexpr Container& GetContainer();
+
+ constexpr operator const Container&() const;
+ constexpr operator Container&();
+
+ constexpr const_iterator begin() const;
+ constexpr iterator begin();
+
+ constexpr const_iterator end() const;
+ constexpr iterator end();
+
+ constexpr size_t size() const;
+ constexpr bool empty() const;
+
+ const_reference operator[](size_t) const;
+ reference operator[](size_t);
+
+protected:
+ Container container;
+};
+} // namespace OpenScenarioEngine::v1_3
+
+namespace OpenScenarioEngine::v1_3
+{
+
+template <typename Container>
+constexpr Iterable<Container>::Iterable(Container&& input)
+ : container{std::forward<Container>(input)}
+{
+}
+
+template <typename Container>
+constexpr const Container& Iterable<Container>::GetContainer() const
+{
+ return (container);
+}
+
+template <typename Container>
+constexpr Container& Iterable<Container>::GetContainer()
+{
+ return (container);
+}
+
+template <typename Container>
+constexpr Iterable<Container>::operator const Container&() const
+{
+ return GetContainer();
+}
+
+template <typename Container>
+constexpr Iterable<Container>::operator Container&()
+{
+ return GetContainer();
+}
+
+template <typename Container>
+constexpr typename Container::const_iterator Iterable<Container>::begin() const
+{
+ return container.begin();
+}
+
+template <typename Container>
+constexpr typename Container::iterator Iterable<Container>::begin()
+{
+ return container.begin();
+}
+
+template <typename Container>
+constexpr typename Container::const_iterator Iterable<Container>::end() const
+{
+ return container.end();
+}
+
+template <typename Container>
+constexpr typename Container::iterator Iterable<Container>::end()
+{
+ return container.end();
+}
+
+template <typename Container>
+constexpr size_t Iterable<Container>::size() const
+{
+ return container.size();
+}
+
+template <typename Container>
+constexpr bool Iterable<Container>::empty() const
+{
+ return container.empty();
+}
+
+template <typename Container>
+typename Container::const_reference Iterable<Container>::operator[](size_t i) const
+{
+ return container[i];
+}
+
+template <typename Container>
+typename Container::reference Iterable<Container>::operator[](size_t i)
+{
+ return container[i];
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Length.cpp b/engine/src/Utils/Spawning/Length.cpp
new file mode 100644
index 00000000..67c9aa5e
--- /dev/null
+++ b/engine/src/Utils/Spawning/Length.cpp
@@ -0,0 +1,52 @@
+/********************************************************************************
+ * Copyright (c) 2024 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 "Length.h"
+
+#include <cassert>
+#include <numeric>
+
+namespace OpenScenarioEngine::v1_3
+{
+units::length::meter_t ToLength::operator()(const mantle_api::ITrafficAreaStream& stream) const
+{
+ return stream.GetLength();
+}
+
+units::length::meter_t ToLength::operator()(const mantle_api::TrafficArea& area) const
+{
+ return std::transform_reduce(area.begin(), area.end(), units::length::meter_t{}, std::plus<>{}, *this);
+}
+
+units::length::meter_t ToLength::operator()(const SpawnZone& zone) const
+{
+ assert(!zone.lengths.empty());
+ return zone.lengths.back();
+}
+
+units::length::meter_t ToLength::operator()(const SpawnZones& zones) const
+{
+ assert(!zones.lengths.empty());
+ return zones.lengths.back();
+}
+
+units::length::meter_t ToLength::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject& object) const
+{
+ if (decltype(auto) vehicle{object.GetVehicle()}; vehicle != nullptr)
+ {
+ return units::length::meter_t{vehicle->GetBoundingBox()->GetDimensions()->GetLength()};
+ }
+ if (decltype(auto) pedestrian{object.GetPedestrian()}; pedestrian != nullptr)
+ {
+ return units::length::meter_t{pedestrian->GetBoundingBox()->GetDimensions()->GetLength()};
+ }
+ return units::length::meter_t{std::numeric_limits<double>::quiet_NaN()};
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Length.h b/engine/src/Utils/Spawning/Length.h
new file mode 100644
index 00000000..2839ab18
--- /dev/null
+++ b/engine/src/Utils/Spawning/Length.h
@@ -0,0 +1,96 @@
+/********************************************************************************
+ * Copyright (c) 2024 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/Traffic/i_traffic_area_service.h>
+#include <MantleAPI/Traffic/i_traffic_area_stream.h>
+#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
+#include <units.h>
+
+#include <memory>
+
+#include "Interval.h"
+#include "SpawnZone.h"
+#include "Transform.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+struct ToLength
+{
+ constexpr units::length::meter_t operator()(const Interval&) const;
+
+ units::length::meter_t operator()(const mantle_api::ITrafficAreaStream&) const;
+
+ template <typename Type>
+ units::length::meter_t operator()(const std::shared_ptr<Type>&) const;
+
+ units::length::meter_t operator()(const mantle_api::TrafficArea&) const;
+
+ units::length::meter_t operator()(const SpawnZone&) const;
+
+ units::length::meter_t operator()(const SpawnZones&) const;
+
+ units::length::meter_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject&) const;
+};
+
+template <typename Type>
+units::length::meter_t GetLength(const Type&);
+
+struct ToAccumulatedLength
+{
+ template <typename Type>
+ units::length::meter_t operator()(const Type&);
+
+ units::length::meter_t totalLength;
+};
+
+struct ToAccumulatedWeight
+{
+ template <typename Entry>
+ units::dimensionless::scalar_t operator()(const Entry&);
+
+ units::dimensionless::scalar_t totalWeight;
+};
+} // namespace OpenScenarioEngine::v1_3
+
+namespace OpenScenarioEngine::v1_3
+{
+constexpr units::length::meter_t ToLength::operator()(const Interval& interval) const
+{
+ return interval.GetLength();
+}
+
+template <typename Type>
+units::length::meter_t ToLength::operator()(const std::shared_ptr<Type>& input) const
+{
+ return (*this)(*input);
+}
+
+template <typename Type>
+units::length::meter_t GetLength(const Type& item)
+{
+ return ToLength{}(item);
+}
+
+template <typename Type>
+units::length::meter_t ToAccumulatedLength::operator()(const Type& input)
+{
+ totalLength += GetLength(input);
+ return totalLength;
+}
+
+template <typename Entry>
+units::dimensionless::scalar_t ToAccumulatedWeight::operator()(const Entry& entry)
+{
+ totalWeight += units::dimensionless::scalar_t{entry.GetWeight()};
+ return totalWeight;
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnZone.cpp b/engine/src/Utils/Spawning/SpawnZone.cpp
new file mode 100644
index 00000000..88a4e93e
--- /dev/null
+++ b/engine/src/Utils/Spawning/SpawnZone.cpp
@@ -0,0 +1,104 @@
+/********************************************************************************
+ * Copyright (c) 2024 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 "SpawnZone.h"
+
+#include <algorithm>
+#include <cassert>
+
+#include "Length.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+SpawnZone::SpawnZone(std::vector<Interval> input)
+ : Iterable<std::vector<Interval>>{std::move(input)}, lengths{units::length::meter_t{}}
+{
+ Transform(GetContainer(), lengths, ToAccumulatedLength{});
+}
+
+void SpawnZone::UpdateIndexToLongest()
+{
+ indexToLongest = std::distance(begin(), std::max_element(begin(), end(), [](const auto& a, const auto& b)
+ { return a.GetLength() < b.GetLength(); }));
+}
+
+void SpawnZone::RemoveInterval(Interval interval)
+{
+ auto candidate{std::upper_bound(begin(), end(), interval.max, [](units::length::meter_t threshold, const Interval& entry)
+ { return threshold <= entry.max; })};
+ assert(candidate != end());
+ assert(candidate->min <= interval.min);
+ assert(candidate->max >= interval.max);
+ const auto offset{std::distance(begin(), candidate)};
+ if (candidate->min == interval.min)
+ {
+ if (candidate->max == interval.max)
+ {
+ lengths.erase(std::next(lengths.begin(), offset + 1));
+ GetContainer().erase(candidate);
+ if (indexToLongest == offset)
+ {
+ UpdateIndexToLongest();
+ }
+ else if (indexToLongest > offset + 1)
+ {
+ --indexToLongest;
+ }
+ }
+ else
+ {
+ candidate->min = interval.max;
+ if (indexToLongest == offset)
+ {
+ UpdateIndexToLongest();
+ }
+ }
+ std::transform(std::next(begin(), offset),
+ end(),
+ std::next(lengths.begin(), offset),
+ ToAccumulatedLength{offset ? *std::next(lengths.begin(), offset - 1) : units::length::meter_t{}});
+ return;
+ }
+ else if (candidate->max == interval.max)
+ {
+ candidate->max = interval.min;
+ if (indexToLongest == offset)
+ {
+ indexToLongest = std::distance(lengths.begin(), std::max_element(lengths.begin(), lengths.end()));
+ }
+ std::transform(std::next(begin(), offset),
+ end(),
+ std::next(lengths.begin(), offset),
+ ToAccumulatedLength{offset ? *std::next(lengths.begin(), offset - 1) : units::length::meter_t{}});
+ return;
+ }
+ GetContainer().emplace(std::next(candidate), interval.max, candidate->max);
+ lengths.push_back(units::length::meter_t{});
+ std::next(begin(), offset)->max = interval.min;
+ std::transform(std::next(begin(), offset),
+ end(),
+ std::next(lengths.begin(), offset),
+ ToAccumulatedLength{offset ? *std::next(lengths.begin(), offset - 1) : units::length::meter_t{}});
+}
+
+SpawnZones::SpawnZones(std::vector<SpawnZone> input)
+ : Iterable<std::vector<SpawnZone>>{std::move(input)}, lengths{units::length::meter_t{}}
+{
+ Transform(GetContainer(), lengths, ToAccumulatedLength{});
+}
+} // namespace OpenScenarioEngine::v1_3
+
+namespace OpenScenarioEngine::v1_3
+{
+SpawnZones ToSpawnZones::operator()(const mantle_api::TrafficArea& area) const
+{
+ return {area};
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnZone.h b/engine/src/Utils/Spawning/SpawnZone.h
new file mode 100644
index 00000000..92389b28
--- /dev/null
+++ b/engine/src/Utils/Spawning/SpawnZone.h
@@ -0,0 +1,97 @@
+/********************************************************************************
+ * Copyright (c) 2024 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/Traffic/i_traffic_area_service.h>
+#include <MantleAPI/Traffic/i_traffic_area_stream.h>
+#include <units.h>
+
+#include <vector>
+
+#include "Common.h"
+#include "Interval.h"
+#include "Iterable.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+struct SpawnZone : Iterable<std::vector<Interval>>
+{
+ SpawnZone(std::vector<Interval>);
+
+ template <typename Filter = Return<true>>
+ SpawnZone(const mantle_api::ITrafficAreaStream&, Filter&&);
+
+ /// Removes the given interval from this spawn zone and updates the interval lengths and index to the longest interval if necessary
+ ///
+ /// \param Interval Interval guaranteed to be a subset of an interval of this zone
+ void RemoveInterval(Interval);
+
+ void UpdateIndexToLongest();
+
+ std::vector<units::length::meter_t> lengths;
+ std::ptrdiff_t indexToLongest;
+};
+
+template <typename Filter = Return<true>>
+struct ToSpawnZone
+{
+ SpawnZone operator()(const mantle_api::ITrafficAreaStream&) const;
+
+ SpawnZone operator()(const std::shared_ptr<mantle_api::ITrafficAreaStream>&) const;
+
+ Filter filter;
+};
+
+template <typename Filter>
+ToSpawnZone(Filter&&) -> ToSpawnZone<Filter>;
+
+struct SpawnZones : Iterable<std::vector<SpawnZone>>
+{
+ SpawnZones(std::vector<SpawnZone>);
+
+ template <typename Filter = Return<true>>
+ SpawnZones(const mantle_api::TrafficArea&, Filter&& = {});
+
+ std::vector<units::length::meter_t> lengths;
+};
+
+struct ToSpawnZones
+{
+ SpawnZones operator()(const mantle_api::TrafficArea&) const;
+};
+} // namespace OpenScenarioEngine::v1_3
+
+namespace OpenScenarioEngine::v1_3
+{
+template <typename Filter>
+SpawnZone ToSpawnZone<Filter>::operator()(const mantle_api::ITrafficAreaStream& stream) const
+{
+ return {stream, filter};
+}
+
+template <typename Filter>
+SpawnZone ToSpawnZone<Filter>::operator()(const std::shared_ptr<mantle_api::ITrafficAreaStream>& stream) const
+{
+ return (*this)(*stream);
+}
+
+template <typename Filter>
+SpawnZone::SpawnZone(const mantle_api::ITrafficAreaStream& stream, Filter&& filter)
+ : SpawnZone{GetFreeIntervals(stream, std::forward<Filter>(filter))}
+{
+}
+
+template <typename Filter>
+SpawnZones::SpawnZones(const mantle_api::TrafficArea& area, Filter&& filter)
+ : SpawnZones{Transform(area, ToSpawnZone{std::forward<Filter>(filter)})}
+{
+}
+} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
diff --git a/engine/src/Utils/Spawning/Transform.h b/engine/src/Utils/Spawning/Transform.h
new file mode 100644
index 00000000..072c6733
--- /dev/null
+++ b/engine/src/Utils/Spawning/Transform.h
@@ -0,0 +1,49 @@
+/********************************************************************************
+ * Copyright (c) 2024 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 <algorithm>
+#include <memory>
+#include <type_traits>
+#include <vector>
+
+namespace OpenScenarioEngine::v1_3
+{
+template <typename Invocable, typename Type>
+std::vector<std::invoke_result_t<Invocable, const Type&>> Transform(const std::vector<Type>& input, Invocable&& invocable)
+{
+ std::vector<std::invoke_result_t<Invocable, const Type&>> result;
+ result.reserve(input.size());
+ std::transform(input.begin(), input.end(), std::back_inserter(result), std::forward<Invocable>(invocable));
+ return result;
+}
+
+template <typename Invocable, typename Type>
+void Transform(const std::vector<Type>& input, std::vector<std::invoke_result_t<Invocable, const Type&>>& output, Invocable&& invocable)
+{
+ output.reserve(output.size() + input.size());
+ std::transform(input.begin(), input.end(), std::back_inserter(output), std::forward<Invocable>(invocable));
+}
+
+template <typename Type, typename Invocable>
+std::vector<std::invoke_result_t<Invocable, const Type&>> TransformSharedPointers(
+ const std::vector<std::shared_ptr<Type>>& items, Invocable&& invocable)
+{
+ std::vector<std::invoke_result_t<Invocable, const Type&>> result;
+ result.reserve(items.size());
+ std::transform(items.begin(),
+ items.end(),
+ std::back_inserter(result),
+ [&](const std::shared_ptr<Type>& item)
+ { return invocable(*item); });
+ return result;
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/tests/Storyboard/GenericAction/ActivateControllerActionTest.cpp b/engine/tests/Storyboard/GenericAction/ActivateControllerActionTest.cpp
index d8f36438..389313cc 100644
--- a/engine/tests/Storyboard/GenericAction/ActivateControllerActionTest.cpp
+++ b/engine/tests/Storyboard/GenericAction/ActivateControllerActionTest.cpp
@@ -14,7 +14,7 @@
#include <gtest/gtest.h>
#include "MantleAPI/Common/i_identifiable.h"
-#include "Storyboard/GenericAction/ActivateControllerAction_impl.h"
+#include "Storyboard/GenericAction/ActivateControllerAction.h"
#include "TestUtils/MockControllerService.h"
#include "gmock/gmock.h"
--
GitLab
From d54bd0c352e40c147b22d5f407c7da9c6f497b2c Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Mon, 23 Dec 2024 17:38:47 +0100
Subject: [PATCH 05/26] Simplify TrafficAreaAction::Step
---
.../ConvertScenarioTrafficDistribution.h | 4 +-
.../GenericAction/TrafficAreaAction.cpp | 38 ++++---------------
engine/src/Utils/Spawning/Iterable.h | 37 ++++++++++++++++--
3 files changed, 42 insertions(+), 37 deletions(-)
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
index ae7421b7..50e4160a 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
@@ -16,6 +16,7 @@
#include <memory>
#include <vector>
+#include "Utils/Spawning/Iterable.h"
#include "Utils/Spawning/Length.h"
namespace OpenScenarioEngine::v1_3
@@ -26,9 +27,8 @@ struct TrafficDistribution
units::dimensionless::scalar_t weight;
};
-struct TrafficDistributions
+struct TrafficDistributions : Iterable<std::vector<TrafficDistribution>>
{
- std::vector<TrafficDistribution> distributions;
std::vector<units::dimensionless::scalar_t> weights;
};
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
index 1733fd88..f7b4118e 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
@@ -48,7 +48,7 @@ bool TrafficAreaAction::Step()
{
return true;
}
- if (values.trafficDistributions.distributions.empty()) // No spawnable entities
+ if (values.trafficDistributions.empty()) // No spawnable entities
{
return false;
}
@@ -62,38 +62,17 @@ bool TrafficAreaAction::Step()
}
EntityCreator spawner{mantle.environment};
- if (values.trafficDistributions.distributions.size() == 1)
+ // SpawnSpace spawnSpace{values.trafficDistrbutions, trafficAreas};
+ while (values.numberOfEntities)
{
- auto& distributions{values.trafficDistributions.distributions.front()};
- if (distributions.entities.size() == 1) // Skip sampling entities if there is only one
+ if (/*!spawnSpace.Spawn()*/)
{
- if (trafficAreas.size() == 1)
- {
- SpawnZones zones{trafficAreas.front(), [threshold = GetLength(distributions.entities.front())](const Interval& interval)
- {
- return interval.GetLength() >= threshold;
- }};
- while (values.numberOfEntities)
- {
- if (zones.empty())
- { // No room left
- return false;
- }
- }
- }
+ return false;
}
+ --values.numberOfEntities;
}
+ return true;
- if (trafficAreas.size() == 1) // Skip sampling areas if there is only one
- {
- auto& area{trafficAreas.front()};
- // TODO: Not yet implemented
- while (values.numberOfEntities)
- {
- --values.numberOfEntities;
- }
- return true;
- }
std::vector<SpawnZones> spawnZones{Transform(trafficAreas, ToSpawnZones{})};
std::vector<units::length::meter_t> weights{Transform(spawnZones, ToAccumulatedLength{})};
while (values.numberOfEntities)
@@ -114,9 +93,6 @@ bool TrafficAreaAction::Step()
// spawner.CreateEntity(values.trafficDistribution.entityDistribution);
// mantle.environment->GetEntityRepository().Create;
- // Note:
- // - Access to values parse to mantle/ose datatypes: this->values.xxx
- // - Access to mantle interfaces: this->mantle.xxx
return true;
}
diff --git a/engine/src/Utils/Spawning/Iterable.h b/engine/src/Utils/Spawning/Iterable.h
index 1801f311..aadc9e88 100644
--- a/engine/src/Utils/Spawning/Iterable.h
+++ b/engine/src/Utils/Spawning/Iterable.h
@@ -40,8 +40,14 @@ struct Iterable
constexpr size_t size() const;
constexpr bool empty() const;
- const_reference operator[](size_t) const;
- reference operator[](size_t);
+ constexpr const_reference front() const;
+ constexpr reference front();
+
+ constexpr const_reference back() const;
+ constexpr reference back();
+
+ constexpr const_reference operator[](size_t) const;
+ constexpr reference operator[](size_t);
protected:
Container container;
@@ -118,13 +124,36 @@ constexpr bool Iterable<Container>::empty() const
}
template <typename Container>
-typename Container::const_reference Iterable<Container>::operator[](size_t i) const
+constexpr typename Container::const_reference Iterable<Container>::front() const
+{
+ return container.front();
+}
+template <typename Container>
+constexpr typename Container::reference Iterable<Container>::front()
+{
+ return container.front();
+}
+
+template <typename Container>
+constexpr typename Container::const_reference Iterable<Container>::back() const
+{
+ return container.back();
+}
+
+template <typename Container>
+constexpr typename Container::reference Iterable<Container>::back()
+{
+ return container.back();
+}
+
+template <typename Container>
+constexpr typename Container::const_reference Iterable<Container>::operator[](size_t i) const
{
return container[i];
}
template <typename Container>
-typename Container::reference Iterable<Container>::operator[](size_t i)
+constexpr typename Container::reference Iterable<Container>::operator[](size_t i)
{
return container[i];
}
--
GitLab
From 928311ee1308c5bd6996e9418378c79e30d7ad7c Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Thu, 26 Dec 2024 12:57:08 +0100
Subject: [PATCH 06/26] Introduce SpawnSpace for TrafficAreaAction
---
.../GenericAction/TrafficAreaAction.cpp | 2 +-
engine/src/Utils/Spawning/SpawnSpace.cpp | 24 +++++++
engine/src/Utils/Spawning/SpawnSpace.h | 62 +++++++++++++++++++
3 files changed, 87 insertions(+), 1 deletion(-)
create mode 100644 engine/src/Utils/Spawning/SpawnSpace.cpp
create mode 100644 engine/src/Utils/Spawning/SpawnSpace.h
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
index f7b4118e..f68775c0 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
@@ -65,7 +65,7 @@ bool TrafficAreaAction::Step()
// SpawnSpace spawnSpace{values.trafficDistrbutions, trafficAreas};
while (values.numberOfEntities)
{
- if (/*!spawnSpace.Spawn()*/)
+ if (true /*!spawnSpace.Spawn(...)*/)
{
return false;
}
diff --git a/engine/src/Utils/Spawning/SpawnSpace.cpp b/engine/src/Utils/Spawning/SpawnSpace.cpp
new file mode 100644
index 00000000..ca1490c4
--- /dev/null
+++ b/engine/src/Utils/Spawning/SpawnSpace.cpp
@@ -0,0 +1,24 @@
+/********************************************************************************
+ * Copyright (c) 2024 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 "SpawnSpace.h"
+
+#include <cassert>
+
+namespace OpenScenarioEngine::v1_3
+{
+std::pair<SpawnZones &, units::length::meter_t> SpawnSpace::GetZonesAndOffset(units::length::meter_t value)
+{
+ assert(weights.size() >= 2);
+ const auto offset{std::prev(std::upper_bound(std::next(weights.begin()), std::prev(weights.end()), value))};
+ const auto index{std::distance(weights.begin(), offset)};
+ return {container[static_cast<size_t>(index)], *offset};
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnSpace.h b/engine/src/Utils/Spawning/SpawnSpace.h
new file mode 100644
index 00000000..88cec5d4
--- /dev/null
+++ b/engine/src/Utils/Spawning/SpawnSpace.h
@@ -0,0 +1,62 @@
+/********************************************************************************
+ * Copyright (c) 2024 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 <utility>
+#include <vector>
+
+#include "Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h"
+#include "Iterable.h"
+#include "SpawnZone.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+struct SpawnSpace : Iterable<std::vector<SpawnZones>>
+{
+ /// Tries to spawn an entity and returns whether spawning was successful.
+ /// If successful, also adjusts the weighting of the spawn space.
+ ///
+ /// \tparam EntityCreator Provides CreateEntity()
+ /// \tparam Sampler Invocable with signature double(double value) returning a number within [0, value)
+ template <typename EntityCreator, typename Sampler>
+ bool Spawn(EntityCreator &&, Sampler &&);
+
+ // Returns the spawn zones and weight offset containing the given sample
+ std::pair<SpawnZones &, units::length::meter_t> GetZonesAndOffset(units::length::meter_t);
+
+ TrafficDistributions distributions;
+ std::vector<units::length::meter_t> weights;
+};
+} // namespace OpenScenarioEngine::v1_3
+
+namespace OpenScenarioEngine::v1_3
+{
+
+template <typename EntityCreator, typename Sampler>
+bool SpawnSpace::Spawn(EntityCreator &&spawner, Sampler &&sampler)
+{
+ if (empty() || distributions.empty())
+ {
+ return false;
+ }
+ if (distribution.size() == 1)
+ {
+ return Spawn(distributions.front(), std::forward<EntityCreator>(spawner), std::forward<Sample>(sampler));
+ }
+ if (size() == 1)
+ {
+ return front().Spawn(distributions, std::forward<EntityCreator>(spawner), std::forward<Sampler>(sampler));
+ }
+ const units::length::meter_t sample{sampler(weights.back())};
+ auto [zones, offset]{GetZonesAndOffset(sample)};
+ return zones.Spawn(sample - offset, distributions, std::forward<EntityCreator>(spawner), std::forward<Sampler>(sampler));
+}
+} // namespace OpenScenarioEngine::v1_3
--
GitLab
From 0e861f2f46324084d875852a09121cf74a557329 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Wed, 15 Jan 2025 20:50:18 +0100
Subject: [PATCH 07/26] Add stochastics & revamp spawning
---
engine/CMakeLists.txt | 16 ++-
engine/cmake/generated_files.cmake | 4 +
.../ConvertScenarioTrafficArea.cpp | 2 +
.../ConvertScenarioTrafficDistribution.cpp | 1 +
.../ConvertScenarioTrafficDistribution.h | 6 +-
.../GenericAction/TrafficAreaAction.cpp | 32 ++----
.../GenericAction/TrafficAreaAction.h | 1 +
engine/src/Utils/Spawning/Common.h | 58 +++++++++-
engine/src/Utils/Spawning/Interval.cpp | 21 +++-
engine/src/Utils/Spawning/Interval.h | 50 +++++++-
engine/src/Utils/Spawning/Iterable.h | 83 +++++++++++---
engine/src/Utils/Spawning/Length.cpp | 11 +-
engine/src/Utils/Spawning/Length.h | 50 +++++++-
engine/src/Utils/Spawning/LinkedInterval.cpp | 34 ++++++
engine/src/Utils/Spawning/LinkedInterval.h | 36 ++++++
engine/src/Utils/Spawning/Obstacle.cpp | 54 +++++++++
engine/src/Utils/Spawning/Obstacle.h | 50 ++++++++
engine/src/Utils/Spawning/SpawnSpace.cpp | 81 ++++++++++++-
engine/src/Utils/Spawning/SpawnSpace.h | 107 ++++++++++++++----
engine/src/Utils/Spawning/SpawnSpot.h | 39 +++++++
engine/src/Utils/Spawning/SpawnZone.cpp | 82 +++-----------
engine/src/Utils/Spawning/SpawnZone.h | 79 ++++++-------
engine/src/Utils/Spawning/VelocityRange.cpp | 54 +++++++++
engine/src/Utils/Spawning/VelocityRange.h | 78 +++++++++++++
engine/src/Utils/Spawning/Weight.h | 92 +++++++++++++++
25 files changed, 919 insertions(+), 202 deletions(-)
create mode 100644 engine/src/Utils/Spawning/LinkedInterval.cpp
create mode 100644 engine/src/Utils/Spawning/LinkedInterval.h
create mode 100644 engine/src/Utils/Spawning/Obstacle.cpp
create mode 100644 engine/src/Utils/Spawning/Obstacle.h
create mode 100644 engine/src/Utils/Spawning/SpawnSpot.h
create mode 100644 engine/src/Utils/Spawning/VelocityRange.cpp
create mode 100644 engine/src/Utils/Spawning/VelocityRange.h
create mode 100644 engine/src/Utils/Spawning/Weight.h
diff --git a/engine/CMakeLists.txt b/engine/CMakeLists.txt
index 2e937ef7..fed70383 100644
--- a/engine/CMakeLists.txt
+++ b/engine/CMakeLists.txt
@@ -55,6 +55,12 @@ target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)
find_package(OpenScenarioAPI REQUIRED MODULE)
find_package(Antlr4Runtime REQUIRED MODULE)
+include(FetchContent)
+FetchContent_Declare(Stochastics
+ URL https://gitlab.eclipse.org/eclipse/openpass/stochastics-library/-/archive/main/stochastics-library-main.zip
+ EXCLUDE_FROM_ALL)
+FetchContent_MakeAvailable(Stochastics)
+
include(cmake/generated_files.cmake)
target_sources(
@@ -70,12 +76,12 @@ target_include_directories(
$<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/include>
)
-target_link_libraries(${PROJECT_NAME} PUBLIC openscenario_api::shared
- antlr4_runtime::shared
- Yase::agnostic_behavior_tree
- units::units
+target_link_libraries(${PROJECT_NAME} PUBLIC antlr4_runtime::shared
MantleAPI::MantleAPI
- PRIVATE Stochastics::Stochastics)
+ openscenario_api::shared
+ units::units
+ Yase::agnostic_behavior_tree
+ PRIVATE Stochastics)
if(USE_CCACHE)
find_program(CCACHE_FOUND ccache)
diff --git a/engine/cmake/generated_files.cmake b/engine/cmake/generated_files.cmake
index 7a4e54a1..42b52e31 100644
--- a/engine/cmake/generated_files.cmake
+++ b/engine/cmake/generated_files.cmake
@@ -234,7 +234,11 @@ list(APPEND ${PROJECT_NAME}_SOURCES
src/Storyboard/MotionControlAction/SpeedAction_impl.cpp
src/Utils/Spawning/Interval.cpp
src/Utils/Spawning/Length.cpp
+ src/Utils/Spawning/LinkedInterval.cpp
+ src/Utils/Spawning/Obstacle.cpp
+ src/Utils/Spawning/SpawnSpace.cpp
src/Utils/Spawning/SpawnZone.cpp
+ src/Utils/Spawning/VelocityRange.cpp
src/Utils/ConditionEdgeEvaluator.cpp
src/Utils/ControllerCreator.cpp
src/Utils/ControllerService.cpp
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp
index 9828f445..6a22f0ef 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp
@@ -35,6 +35,8 @@ struct ToRoadRange
{
mantle_api::RoadRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IRoadRange& range) const
{
+ // An IRoadRange always has a length, but a mantle_api::RoadRange can have a std::nullopt length. Thus, if
+ // the IRoadRange has a length 0 despite having more than one cursor, treat that length as representing std::nullopt:
return {(range.GetRoadCursorSize() > 1 && range.GetLength() == .0) ? std::nullopt : std::optional<units::length::meter_t>{range.GetLength()},
TransformSharedPointers(range.GetRoadCursor(), ToRoadCursor{})};
}
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
index 04461351..ae0eb73c 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
@@ -10,6 +10,7 @@
#include "ConvertScenarioTrafficDistribution.h"
+#include "Utils/Spawning/Length.h"
#include "Utils/Spawning/Transform.h"
namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
index 50e4160a..5442081e 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
@@ -1,5 +1,5 @@
/********************************************************************************
- * Copyright (c) 2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2024-2025 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
@@ -17,13 +17,11 @@
#include <vector>
#include "Utils/Spawning/Iterable.h"
-#include "Utils/Spawning/Length.h"
namespace OpenScenarioEngine::v1_3
{
-struct TrafficDistribution
+struct TrafficDistribution : Iterable<std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>>>
{
- std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>> entities;
units::dimensionless::scalar_t weight;
};
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
index f68775c0..6777a273 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
@@ -10,10 +10,13 @@
#include "Storyboard/GenericAction/TrafficAreaAction.h"
+#include <Stochastics/Stochastics.h>
+
#include "Conversion/OscToMantle/ConvertScenarioTrafficArea.h"
#include "Utils/EntityCreator.h"
#include "Utils/Logger.h"
#include "Utils/Spawning/Length.h"
+#include "Utils/Spawning/SpawnSpace.h"
#include "Utils/Spawning/Transform.h"
namespace OpenScenarioEngine::v1_3
@@ -61,39 +64,18 @@ bool TrafficAreaAction::Step()
}
}
EntityCreator spawner{mantle.environment};
-
- // SpawnSpace spawnSpace{values.trafficDistrbutions, trafficAreas};
+ std::vector<SpawnZones> spawnZones{Transform(trafficAreas, ToSpawnZones{})};
+ SpawnSpace spawnSpace{values.trafficDistributions, spawnZones};
+ Stochastics rng;
while (values.numberOfEntities)
{
- if (true /*!spawnSpace.Spawn(...)*/)
+ if (!spawnSpace.Spawn(spawner, rng))
{
return false;
}
--values.numberOfEntities;
}
return true;
-
- std::vector<SpawnZones> spawnZones{Transform(trafficAreas, ToSpawnZones{})};
- std::vector<units::length::meter_t> weights{Transform(spawnZones, ToAccumulatedLength{})};
- while (values.numberOfEntities)
- {
- auto [sampleA, indexA]{Sample(weights)};
- auto sampleB{sampleA - weights[indexA]};
- const SpawnZones& zones{spawnZones[indexA]};
- const auto upperBound{std::prev(std::upper_bound(std::next(zones.lengths.begin()), std::prev(zones.lengths.end()), sampleB))};
- const auto indexB{static_cast<size_t>(std::distance(zones.lengths.begin(), upperBound))};
- const SpawnZone& zone{zones[indexB]};
- auto sampleC{sampleB - zones.lengths[indexB]};
-
- // TODO: WIP
- // spawner.CreateEntity()
-
- --values.numberOfEntities;
- }
- // spawner.CreateEntity(values.trafficDistribution.entityDistribution);
- // mantle.environment->GetEntityRepository().Create;
-
- return true;
}
namespace Node
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.h b/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
index ea72bbd6..1e63a341 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
@@ -12,6 +12,7 @@
#include <MantleAPI/Execution/i_environment.h>
#include <MantleAPI/Traffic/i_traffic_area_service.h>
+#include <Stochastics/StochasticsInterface.h>
#include <agnostic_behavior_tree/action_node.h>
#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
#include <units.h>
diff --git a/engine/src/Utils/Spawning/Common.h b/engine/src/Utils/Spawning/Common.h
index 16a5dac1..3d16791a 100644
--- a/engine/src/Utils/Spawning/Common.h
+++ b/engine/src/Utils/Spawning/Common.h
@@ -13,7 +13,9 @@
#include <units.h>
#include <algorithm>
+#include <functional>
#include <memory>
+#include <type_traits>
namespace OpenScenarioEngine::v1_3
{
@@ -34,12 +36,56 @@ struct Return
}
};
-template <typename Type>
-std::pair<Type, size_t> Sample(const std::vector<Type>& range)
+/// Functor returning the input as-is.
+struct Forward
{
- const units::length::meter_t sample{range.back()}; // TODO: Use Stochastics
- const auto upperBound{std::upper_bound(range.begin(), std::prev(range.end()), sample)};
- const auto index{static_cast<size_t>(std::distance(range.begin(), upperBound))};
- return {sample, index};
+ template <typename Input>
+ constexpr decltype(auto) operator()(Input&& input) const
+ {
+ return std::forward<Input>(input);
+ }
+};
+
+template <typename Operation, typename Transformer = Forward>
+struct BinaryOperation
+{
+ using is_transparent = bool;
+
+ template <typename A, typename B>
+ constexpr decltype(auto) operator()(A&&, B&&) const;
+};
+
+template <typename Transform>
+using Less = BinaryOperation<std::less<>, Transform>;
+
+template <typename Transform>
+using Greater = BinaryOperation<std::greater<>, Transform>;
+
+template <typename Transform>
+using Add = BinaryOperation<std::plus<>, Transform>;
+
+template <typename Operation, typename Transformer>
+template <typename A, typename B>
+constexpr decltype(auto) BinaryOperation<Operation, Transformer>::operator()(A&& a, B&& b) const
+{
+ static_assert(std::is_invocable_v<Transformer, A&&> && std::is_invocable_v<Transformer, B&&>);
+ return Operation{}(Transformer{}(std::forward<A>(a)), Transformer{}(std::forward<B>(b)));
+}
+
+template <typename Elements, typename Thresholds>
+typename Elements::const_reference Sample(const Elements& elements, const Thresholds& thresholds, typename Thresholds::const_reference value)
+{
+ assert(elements.size() == thresholds.size());
+ const auto threshold{std::upper_bound(std::next(thresholds.begin()), thresholds.end(), value)};
+ const size_t index{static_cast<size_t>(std::distance(thresholds.begin(), threshold) - 1)};
+ return elements[index];
}
+// template <typename Type>
+// std::pair<Type, size_t> Sample(const std::vector<Type>& range)
+// {
+// const units::length::meter_t sample{range.back()}; // TODO: Use Stochastics
+// const auto upperBound{std::upper_bound(range.begin(), std::prev(range.end()), sample)};
+// const auto index{static_cast<size_t>(std::distance(range.begin(), upperBound))};
+// return {sample, index};
+// }
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Interval.cpp b/engine/src/Utils/Spawning/Interval.cpp
index 847e7ad3..d35e5077 100644
--- a/engine/src/Utils/Spawning/Interval.cpp
+++ b/engine/src/Utils/Spawning/Interval.cpp
@@ -1,5 +1,5 @@
/********************************************************************************
- * Copyright (c) 2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2024-2025 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
@@ -11,6 +11,7 @@
#include "Interval.h"
#include <algorithm>
+#include <cassert>
#include "Common.h"
@@ -24,4 +25,22 @@ void OffsetIntervals(std::vector<Interval>& intervals, units::length::meter_t fr
intervals.end());
std::for_each(intervals.begin(), intervals.end(), OffsetBy{frontOffset, rearOffset});
}
+
+std::vector<Interval> Interval::SplitBy(Interval input) const
+{
+ assert(min <= input.min && input.max <= max);
+ if (min < input.min)
+ {
+ if (input.max < max)
+ {
+ return {{min, input.min}, {input.max, max}};
+ }
+ return {{min, input.min}};
+ }
+ if (input.max < max)
+ {
+ return {{input.max, max}};
+ }
+ return {};
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Interval.h b/engine/src/Utils/Spawning/Interval.h
index 755fb9d4..1f16640c 100644
--- a/engine/src/Utils/Spawning/Interval.h
+++ b/engine/src/Utils/Spawning/Interval.h
@@ -1,5 +1,5 @@
/********************************************************************************
- * Copyright (c) 2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2024-2025 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
@@ -13,6 +13,7 @@
#include <MantleAPI/Traffic/i_traffic_area_stream.h>
#include <units.h>
+#include <set>
#include <vector>
#include "Common.h"
@@ -24,10 +25,23 @@ struct Interval
constexpr Interval(units::length::meter_t min, units::length::meter_t max)
: min{min}, max{max} {}
+ /// Returns the length of this interval
+ ///
+ /// \return Difference between min and max
constexpr units::length::meter_t GetLength() const;
+ /// Moves the min and max of this interval by the given offsets
+ ///
+ /// \param frontOffset The amount to be added to min
+ /// \param rearOffset The amount to be added to max
constexpr void OffsetBy(units::length::meter_t frontOffset, units::length::meter_t rearOffset);
+ /// Returns the resulting list of intervals if the given interval were cut out of this interval.
+ ///
+ /// \param Interval A subrange of this interval
+ /// \return 0, 1 or 2 elements sorted by ascending (min/max) value.
+ std::vector<Interval> SplitBy(Interval) const;
+
units::length::meter_t min, max;
};
@@ -42,6 +56,20 @@ void OffsetIntervals(std::vector<Interval>& intervals, units::length::meter_t fr
/// Returns all pairs of stream distances between which no entity is placed on the given stream
std::vector<Interval> GetFreeIntervals(const mantle_api::ITrafficAreaStream&);
+
+struct ToMin
+{
+ constexpr units::length::meter_t operator()(units::length::meter_t) const;
+
+ constexpr units::length::meter_t operator()(const Interval&) const;
+};
+
+struct ToMax
+{
+ constexpr units::length::meter_t operator()(units::length::meter_t) const;
+
+ constexpr units::length::meter_t operator()(const Interval&) const;
+};
} // namespace OpenScenarioEngine::v1_3
namespace OpenScenarioEngine::v1_3
@@ -109,4 +137,24 @@ std::vector<Interval> GetFreeIntervals(const mantle_api::ITrafficAreaStream& str
}
return result;
}
+
+constexpr units::length::meter_t ToMin::operator()(units::length::meter_t value) const
+{
+ return value;
+}
+
+constexpr units::length::meter_t ToMin::operator()(const Interval& interval) const
+{
+ return interval.min;
+}
+
+constexpr units::length::meter_t ToMax::operator()(units::length::meter_t value) const
+{
+ return value;
+}
+
+constexpr units::length::meter_t ToMax::operator()(const Interval& interval) const
+{
+ return interval.max;
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Iterable.h b/engine/src/Utils/Spawning/Iterable.h
index aadc9e88..00baa36f 100644
--- a/engine/src/Utils/Spawning/Iterable.h
+++ b/engine/src/Utils/Spawning/Iterable.h
@@ -14,11 +14,31 @@
namespace OpenScenarioEngine::v1_3
{
+namespace detail
+{
+template <typename Type>
+struct is_vector
+{
+ static constexpr bool value{false};
+};
+
+template <typename Type>
+struct is_vector<std::vector<Type>>
+{
+ static constexpr bool value{true};
+};
+} // namespace detail
+
+template <typename Type>
+constexpr bool is_vector{detail::is_vector<Type>::value};
+
template <typename Container>
struct Iterable
{
using const_iterator = typename Container::const_iterator;
using iterator = typename Container::iterator;
+ using const_reverse_iterator = typename Container::const_reverse_iterator;
+ using reverse_iterator = typename Container::reverse_iterator;
using const_reference = typename Container::const_reference;
using reference = typename Container::reference;
using value_type = typename Container::value_type;
@@ -37,6 +57,12 @@ struct Iterable
constexpr const_iterator end() const;
constexpr iterator end();
+ constexpr const_reverse_iterator rbegin() const;
+ constexpr reverse_iterator rbegin();
+
+ constexpr const_reverse_iterator rend() const;
+ constexpr reverse_iterator rend();
+
constexpr size_t size() const;
constexpr bool empty() const;
@@ -46,8 +72,17 @@ struct Iterable
constexpr const_reference back() const;
constexpr reference back();
- constexpr const_reference operator[](size_t) const;
- constexpr reference operator[](size_t);
+ template <typename Type = Container, std::enable_if_t<is_vector<Type>, bool> = true>
+ constexpr const_reference operator[](size_t i) const
+ {
+ return container[i];
+ }
+
+ template <typename Type = Container, std::enable_if_t<is_vector<Type>, bool> = true>
+ constexpr reference operator[](size_t i)
+ {
+ return container[i];
+ }
protected:
Container container;
@@ -112,49 +147,61 @@ constexpr typename Container::iterator Iterable<Container>::end()
}
template <typename Container>
-constexpr size_t Iterable<Container>::size() const
+constexpr typename Container::const_reverse_iterator Iterable<Container>::rbegin() const
{
- return container.size();
+ return container.rbegin();
}
template <typename Container>
-constexpr bool Iterable<Container>::empty() const
+constexpr typename Container::reverse_iterator Iterable<Container>::rbegin()
{
- return container.empty();
+ return container.rbegin();
}
template <typename Container>
-constexpr typename Container::const_reference Iterable<Container>::front() const
+constexpr typename Container::const_reverse_iterator Iterable<Container>::rend() const
{
- return container.front();
+ return container.rend();
}
+
template <typename Container>
-constexpr typename Container::reference Iterable<Container>::front()
+constexpr typename Container::reverse_iterator Iterable<Container>::rend()
{
- return container.front();
+ return container.rend();
}
template <typename Container>
-constexpr typename Container::const_reference Iterable<Container>::back() const
+constexpr size_t Iterable<Container>::size() const
{
- return container.back();
+ return container.size();
}
template <typename Container>
-constexpr typename Container::reference Iterable<Container>::back()
+constexpr bool Iterable<Container>::empty() const
{
- return container.back();
+ return container.empty();
}
template <typename Container>
-constexpr typename Container::const_reference Iterable<Container>::operator[](size_t i) const
+constexpr typename Container::const_reference Iterable<Container>::front() const
{
- return container[i];
+ return *begin();
+}
+template <typename Container>
+constexpr typename Container::reference Iterable<Container>::front()
+{
+ return *begin();
+}
+
+template <typename Container>
+constexpr typename Container::const_reference Iterable<Container>::back() const
+{
+ return *rbegin();
}
template <typename Container>
-constexpr typename Container::reference Iterable<Container>::operator[](size_t i)
+constexpr typename Container::reference Iterable<Container>::back()
{
- return container[i];
+ return *rbegin();
}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Length.cpp b/engine/src/Utils/Spawning/Length.cpp
index 67c9aa5e..cd6310c9 100644
--- a/engine/src/Utils/Spawning/Length.cpp
+++ b/engine/src/Utils/Spawning/Length.cpp
@@ -27,14 +27,17 @@ units::length::meter_t ToLength::operator()(const mantle_api::TrafficArea& area)
units::length::meter_t ToLength::operator()(const SpawnZone& zone) const
{
- assert(!zone.lengths.empty());
- return zone.lengths.back();
+ return zone.GetLength() - std::transform_reduce(zone.obstacles.begin(), zone.obstacles.end(), units::length::meter_t{}, std::plus<>{}, *this);
}
units::length::meter_t ToLength::operator()(const SpawnZones& zones) const
{
- assert(!zones.lengths.empty());
- return zones.lengths.back();
+ return std::transform_reduce(zones.begin(), zones.end(), units::length::meter_t{}, std::plus<>{}, *this);
+}
+
+units::length::meter_t ToLength::operator()(const LinkedInterval& interval) const
+{
+ return ToLength{}(*interval.interval);
}
units::length::meter_t ToLength::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject& object) const
diff --git a/engine/src/Utils/Spawning/Length.h b/engine/src/Utils/Spawning/Length.h
index 2839ab18..01a96046 100644
--- a/engine/src/Utils/Spawning/Length.h
+++ b/engine/src/Utils/Spawning/Length.h
@@ -17,7 +17,9 @@
#include <memory>
+#include "Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h"
#include "Interval.h"
+#include "LinkedInterval.h"
#include "SpawnZone.h"
#include "Transform.h"
@@ -25,13 +27,20 @@ namespace OpenScenarioEngine::v1_3
{
struct ToLength
{
+ constexpr units::length::meter_t operator()(units::length::meter_t) const;
+
constexpr units::length::meter_t operator()(const Interval&) const;
+ units::length::meter_t operator()(const LinkedInterval&) const;
+
units::length::meter_t operator()(const mantle_api::ITrafficAreaStream&) const;
template <typename Type>
units::length::meter_t operator()(const std::shared_ptr<Type>&) const;
+ template <typename Type>
+ units::length::meter_t operator()(const Type*) const;
+
units::length::meter_t operator()(const mantle_api::TrafficArea&) const;
units::length::meter_t operator()(const SpawnZone&) const;
@@ -41,6 +50,17 @@ struct ToLength
units::length::meter_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject&) const;
};
+struct ToSize
+{
+ constexpr size_t operator()(size_t) const;
+
+ template <typename Type>
+ constexpr size_t operator()(const Iterable<Type>&) const;
+
+ template <typename Type>
+ constexpr size_t operator()(const std::vector<Type>&) const;
+};
+
template <typename Type>
units::length::meter_t GetLength(const Type&);
@@ -63,6 +83,11 @@ struct ToAccumulatedWeight
namespace OpenScenarioEngine::v1_3
{
+constexpr units::length::meter_t ToLength::operator()(units::length::meter_t length) const
+{
+ return length;
+}
+
constexpr units::length::meter_t ToLength::operator()(const Interval& interval) const
{
return interval.GetLength();
@@ -71,7 +96,30 @@ constexpr units::length::meter_t ToLength::operator()(const Interval& interval)
template <typename Type>
units::length::meter_t ToLength::operator()(const std::shared_ptr<Type>& input) const
{
- return (*this)(*input);
+ return ToLength{}(*input);
+}
+
+template <typename Type>
+units::length::meter_t ToLength::operator()(const Type* input) const
+{
+ return ToLength{}(*input);
+}
+
+constexpr size_t ToSize::operator()(size_t size) const
+{
+ return size;
+}
+
+template <typename Type>
+constexpr size_t ToSize::operator()(const Iterable<Type>& container) const
+{
+ return container.size();
+}
+
+template <typename Type>
+constexpr size_t ToSize::operator()(const std::vector<Type>& container) const
+{
+ return container.size();
}
template <typename Type>
diff --git a/engine/src/Utils/Spawning/LinkedInterval.cpp b/engine/src/Utils/Spawning/LinkedInterval.cpp
new file mode 100644
index 00000000..6556f22d
--- /dev/null
+++ b/engine/src/Utils/Spawning/LinkedInterval.cpp
@@ -0,0 +1,34 @@
+/********************************************************************************
+ * 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 "LinkedInterval.h"
+
+#include "SpawnZone.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+VelocityRange LinkedInterval::GetVelocityRange() const
+{
+ const size_t index{static_cast<size_t>(std::distance(zone->begin(), interval))};
+ return {zone->velocities[index], zone->velocities[index + 1]};
+}
+
+units::velocity::meters_per_second_t LinkedInterval::GetMinVelocity() const
+{
+ const size_t index{static_cast<size_t>(std::distance(zone->begin(), interval))};
+ return zone->velocities[index];
+}
+
+units::velocity::meters_per_second_t LinkedInterval::GetMaxVelocity() const
+{
+ const size_t index{static_cast<size_t>(std::distance(zone->begin(), interval))};
+ return zone->velocities[index + 1];
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/LinkedInterval.h b/engine/src/Utils/Spawning/LinkedInterval.h
new file mode 100644
index 00000000..cb3780ec
--- /dev/null
+++ b/engine/src/Utils/Spawning/LinkedInterval.h
@@ -0,0 +1,36 @@
+/********************************************************************************
+ * 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 <vector>
+
+#include "Interval.h"
+#include "VelocityRange.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+struct SpawnZone;
+
+// A LinkedInterval holds an iterator to an Interval and a pointer to the container of that interval (its SpawnZone).
+// This is done so that there can be a list of all Intervals regardless of their SpawnZone while still being able to refer
+// back to the zone they are a part of. That way, an interval can be sampled with a fair distribution efficiently while
+// also reducing the amount of length recomputations needed when an interval is changed/removed. (See SpawnSpace)
+struct LinkedInterval
+{
+ units::velocity::meters_per_second_t GetMinVelocity() const;
+
+ units::velocity::meters_per_second_t GetMaxVelocity() const;
+
+ VelocityRange GetVelocityRange() const;
+
+ std::vector<Interval>::iterator interval;
+ SpawnZone* zone;
+};
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Obstacle.cpp b/engine/src/Utils/Spawning/Obstacle.cpp
new file mode 100644
index 00000000..fc2c97bd
--- /dev/null
+++ b/engine/src/Utils/Spawning/Obstacle.cpp
@@ -0,0 +1,54 @@
+/********************************************************************************
+ * 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 "Obstacle.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+Obstacle::Obstacle(Interval interval, const std::shared_ptr<mantle_api::IEntity>& entity, units::velocity::meters_per_second_t velocity)
+ : Interval{std::move(interval)}, entity{entity}, velocity{velocity} {}
+
+Obstacle Obstacle::GetStartingSentinel(units::length::meter_t value)
+{
+ return {{value, value}, nullptr, units::velocity::meters_per_second_t{std::numeric_limits<double>::lowest()}};
+}
+
+Obstacle Obstacle::GetEndingSentinel(units::length::meter_t value)
+{
+ return {{value, value}, nullptr, units::velocity::meters_per_second_t{std::numeric_limits<double>::max()}};
+}
+
+Obstacle ToObstacle(const std::shared_ptr<mantle_api::IEntity>& entity, const mantle_api::ITrafficAreaStream& stream)
+{
+ const auto halfLength{entity->GetProperties()->bounding_box.dimension.length / units::dimensionless::scalar_t{2.0}};
+ const auto offset{entity->GetProperties()->bounding_box.geometric_center.x};
+ auto pose{stream.Convert(mantle_api::Pose{entity->GetPosition(), {}}).value()};
+ const Interval interval{pose.s + offset - halfLength, pose.s + offset + halfLength};
+ const auto velocity{detail::rotate_2d(entity->GetVelocity(), pose.hdg).x};
+ return {interval, entity, velocity};
+}
+
+std::set<Obstacle, Less<ToMin>> GetObstacles(const mantle_api::ITrafficAreaStream& stream)
+{
+ std::set<Obstacle, Less<ToMin>> result;
+ units::length::meter_t min;
+ const units::length::meter_t max{stream.GetLength()};
+ while (min < max)
+ {
+ std::weak_ptr<mantle_api::IEntity> pointer{stream.GetEntity(mantle_api::ITrafficAreaStream::SearchDirection::kDownstream, min, max - min)};
+ if (is_uninitialized(pointer))
+ {
+ break;
+ }
+ min = result.emplace(ToObstacle(pointer.lock(), stream)).first->max;
+ }
+ return result;
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Obstacle.h b/engine/src/Utils/Spawning/Obstacle.h
new file mode 100644
index 00000000..79dae2d1
--- /dev/null
+++ b/engine/src/Utils/Spawning/Obstacle.h
@@ -0,0 +1,50 @@
+/********************************************************************************
+ * 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 <memory>
+
+#include "Common.h"
+#include "Interval.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+struct Obstacle : Interval
+{
+ Obstacle(Interval, const std::shared_ptr<mantle_api::IEntity>&, units::velocity::meters_per_second_t);
+
+ static Obstacle GetStartingSentinel(units::length::meter_t);
+
+ static Obstacle GetEndingSentinel(units::length::meter_t);
+
+ std::shared_ptr<mantle_api::IEntity> entity;
+
+ units::velocity::meters_per_second_t velocity;
+};
+
+std::set<Obstacle, Less<ToMin>> GetObstacles(const mantle_api::ITrafficAreaStream&);
+} // namespace OpenScenarioEngine::v1_3
+
+namespace OpenScenarioEngine::v1_3::detail
+{
+template <typename Type>
+struct Vec2
+{
+ Type x, y;
+};
+
+template <typename Type>
+inline Vec2<Type> rotate_2d(const mantle_api::Vec3<Type>& input, units::angle::radian_t angle)
+{
+ const auto cos{units::math::cos(angle)};
+ const auto sin{units::math::sin(angle)};
+ return {input.x * cos - input.y * sin, input.x * sin + input.y * cos};
+}
+} // namespace OpenScenarioEngine::v1_3::detail
diff --git a/engine/src/Utils/Spawning/SpawnSpace.cpp b/engine/src/Utils/Spawning/SpawnSpace.cpp
index ca1490c4..1b1a5761 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.cpp
+++ b/engine/src/Utils/Spawning/SpawnSpace.cpp
@@ -10,15 +10,86 @@
#include "SpawnSpace.h"
+#include <algorithm>
#include <cassert>
+#include <numeric>
+
+#include "Length.h"
+#include "Weight.h"
namespace OpenScenarioEngine::v1_3
{
-std::pair<SpawnZones &, units::length::meter_t> SpawnSpace::GetZonesAndOffset(units::length::meter_t value)
+SpawnSpace::SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &distributions, std::vector<SpawnZones> &zones)
+{
+ // Add entities
+ {
+ const size_t number_of_entities{std::transform_reduce(distributions.begin(), distributions.end(), size_t{}, std::plus<>{}, ToSize{})};
+ entities.reserve(number_of_entities);
+ }
+ for (auto &distribution : distributions)
+ {
+ std::transform(distribution.begin(), distribution.end(), std::back_inserter(entities), //
+ [multiplier = distribution.weight](const Entity &entity) -> WeightedEntity
+ { return {entity, GetWeight(entity) * multiplier}; });
+ }
+ std::sort(entities.begin(), entities.end(), Less<ToLength>{});
+ weights = Transform(entities, ToAccumulatedWeight{});
+
+ // Add intervals
+ for (const SpawnZones ®ions : zones)
+ {
+ for (const SpawnZone &zone : regions)
+ {
+ for (auto obstacle{std::next(zone.obstacles.begin())}; obstacle != zone.obstacles.end(); ++obstacle)
+ {
+ spots.emplace(*std::prev(obstacle), *obstacle);
+ }
+ }
+ }
+}
+
+units::length::meter_t SpawnSpace::GetMaxIntervalLength() const
+{
+ return GetLength(*spots.rbegin());
+}
+
+std::vector<WeightedEntity>::const_iterator SpawnSpace::FindSpawnableEntityEnd(units::length::meter_t upper_bound) const
+{
+ return std::upper_bound(entities.begin(), entities.end(), [upper_bound](const Entity &entity)
+ { return GetLength(entity) < upper_bound; });
+}
+std::vector<WeightedEntity>::iterator SpawnSpace::FindSpawnableEntityEnd(units::length::meter_t upper_bound)
+{
+ return std::upper_bound(entities.begin(), entities.end(), [upper_bound](const Entity &entity)
+ { return GetLength(entity) < upper_bound; });
+}
+
+std::set<SpawnSpot, Less<ToLength>>::const_iterator SpawnSpace::SampleInterval(units::length::meter_t min_length, VelocityRange velocity, StochasticsInterface &rng) const
{
- assert(weights.size() >= 2);
- const auto offset{std::prev(std::upper_bound(std::next(weights.begin()), std::prev(weights.end()), value))};
- const auto index{std::distance(weights.begin(), offset)};
- return {container[static_cast<size_t>(index)], *offset};
+ auto spot{spots.lower_bound(min_length)};
+ if (spot == spots.end())
+ {
+ return spots.end();
+ }
+ std::vector<decltype(spot)> candidates;
+ for (; spot != spots.end(); ++spot)
+ {
+ const bool can_keep_up{spot->velocity.Contains(velocity)};
+ const bool is_enough_room_after_2_seconds{GetLength(*spot) - spot->velocity.GetDifference() * units::time::second_t{2.0} > min_length};
+ if (can_keep_up && is_enough_room_after_2_seconds)
+ {
+ candidates.push_back(spot);
+ }
+ }
+ if (candidates.empty())
+ {
+ return spots.end();
+ }
+ ToAccumulatedLength accumulator;
+ std::vector<units::length::meter_t> lengths{Transform(candidates,
+ [&accumulator](const auto iterator)
+ { return accumulator(*iterator); })};
+ const units::length::meter_t sampled_length{rng.GetUniformDistributed(.0, lengths.back().value())};
+ return Sample(candidates, lengths, sampled_length);
}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnSpace.h b/engine/src/Utils/Spawning/SpawnSpace.h
index 88cec5d4..d277b4b0 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.h
+++ b/engine/src/Utils/Spawning/SpawnSpace.h
@@ -1,5 +1,5 @@
/********************************************************************************
- * Copyright (c) 2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * 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
@@ -10,53 +10,114 @@
#pragma once
+#include <Stochastics/StochasticsInterface.h>
+
+#include <cassert>
+#include <set>
#include <utility>
#include <vector>
#include "Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h"
#include "Iterable.h"
+#include "Length.h"
+#include "SpawnSpot.h"
#include "SpawnZone.h"
+#include "VelocityRange.h"
namespace OpenScenarioEngine::v1_3
{
-struct SpawnSpace : Iterable<std::vector<SpawnZones>>
+using Entity = typename std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>;
+
+struct WeightedEntity
+{
+ Entity handle;
+ units::dimensionless::scalar_t weight; // Product of the distribution's weight and the weight of this entity's handle
+};
+
+/// A SpawnSpace is essentially a self-managing, depleting list of TrafficAreas and weighted entities optimized
+/// for the use-case of spawning entities at the rear end of a TrafficArea (with offsets). It restructures the
+/// data to be sorted by interval and entity length, allowing efficient filtering of remaining spawnable entities
+/// and intervals as the space is filled.
+struct SpawnSpace
{
+ SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &, std::vector<SpawnZones> &);
+
+ /// Returns the entity out of the set of entities in this space based on the given sample
+ ///
+ Entity GetEntity(units::dimensionless::scalar_t sample);
+
+ Entity SampleEntity(StochasticsInterface &) const;
+
+ std::set<SpawnSpot, Less<ToLength>>::const_iterator SampleSpot(units::length::meter_t min_length, VelocityRange, StochasticsInterface &) const;
+
/// Tries to spawn an entity and returns whether spawning was successful.
- /// If successful, also adjusts the weighting of the spawn space.
+ /// If successful, also adjusts the spawn space's intervals.
///
- /// \tparam EntityCreator Provides CreateEntity()
- /// \tparam Sampler Invocable with signature double(double value) returning a number within [0, value)
- template <typename EntityCreator, typename Sampler>
- bool Spawn(EntityCreator &&, Sampler &&);
+ /// \tparam EntityCreator Provides CreateEntity(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IScenarioObject> &)
+ /// \param StochasticsInterface Used to sample the entity, its position and its velocity
+ template <typename EntityCreator>
+ bool Spawn(EntityCreator &&, StochasticsInterface &);
+
+ units::length::meter_t GetMaxIntervalLength() const;
- // Returns the spawn zones and weight offset containing the given sample
- std::pair<SpawnZones &, units::length::meter_t> GetZonesAndOffset(units::length::meter_t);
+ std::vector<WeightedEntity>::const_iterator FindSpawnableEntityEnd(units::length::meter_t upper_bound) const;
+ std::vector<WeightedEntity>::iterator FindSpawnableEntityEnd(units::length::meter_t upper_bound);
- TrafficDistributions distributions;
- std::vector<units::length::meter_t> weights;
+ std::set<SpawnSpot, Less<ToLength>> spots;
+
+ std::vector<WeightedEntity> entities; // Entities sorted by ascending length
+ std::vector<units::dimensionless::scalar_t> weights; // Used to sample an entity
};
+
} // namespace OpenScenarioEngine::v1_3
namespace OpenScenarioEngine::v1_3
{
-
-template <typename EntityCreator, typename Sampler>
-bool SpawnSpace::Spawn(EntityCreator &&spawner, Sampler &&sampler)
+Entity SpawnSpace::SampleEntity(StochasticsInterface &rng) const
{
- if (empty() || distributions.empty())
+ const units::length::meter_t max_length{GetMaxIntervalLength()};
+ const auto entity_end{FindSpawnableEntityEnd(max_length)};
+ if (entity_end == entities.begin())
{
- return false;
+ return nullptr;
}
- if (distribution.size() == 1)
+ assert(weights.size() == entities.size() + 1);
+ const units::dimensionless::scalar_t max_weight{weights[static_cast<size_t>(std::distance(entities.begin(), entity_end))]};
+ const units::dimensionless::scalar_t sampled_weight{rng.GetUniformDistributed(.0, max_weight.value())};
+ return Sample(entities, weights, sampled_weight).handle;
+}
+
+template <typename EntityCreator>
+bool SpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &rng)
+{
+ Entity entity{SampleEntity(rng)};
+ if (entity == nullptr)
{
- return Spawn(distributions.front(), std::forward<EntityCreator>(spawner), std::forward<Sample>(sampler));
+ return false;
}
- if (size() == 1)
+ const auto velocity_range{GetSpawnVelocityRange(entity)};
+ const auto spot{SampleSpot(GetLength(entity), velocity_range, rng)};
+ if (spot == spots.end())
{
- return front().Spawn(distributions, std::forward<EntityCreator>(spawner), std::forward<Sampler>(sampler));
+ return false;
}
- const units::length::meter_t sample{sampler(weights.back())};
- auto [zones, offset]{GetZonesAndOffset(sample)};
- return zones.Spawn(sample - offset, distributions, std::forward<EntityCreator>(spawner), std::forward<Sampler>(sampler));
+
+ // TODO: Find last spawnable spot on the zone of the sampled interval
+ // spawner.CreateEntity(*entity, place.zone->GetPosition(distance));
+ // TODO: Remove/replace interval
+ // interval->zone->RemoveInterval(*interval->interval, sampler(restricted_velocity.min, restricted_velocity.max));
+ return true;
}
+
+// std::pair<const SpawnZones &, const SpawnZone &> SpawnSpace::SampleZone(units::dimensionless::scalar_t sample) const
+// {
+// assert(units::dimensionless::scalar_t{} <= sample && sample < units::dimensionless::scalar_t{1.0});
+// const units::length::meter_t weight{sample * weights.back()};
+// auto index{static_cast<size_t>(std::distance(weights.begin(), std::prev(std::upper_bound(std::next(weights.begin()), weights.end(), weight))))};
+// assert(index > 1);
+// const SpawnZones &zones{(*this)[index]};
+// const units::length::meter_t zone_weight{weight - weights[index]};
+// auto zone_index{static_cast<size_t>(std::distance(zones.lengths.begin(), std::prev(std::upper_bound(std::next(zones.lengths.begin()), zones.lengths.end(), zone_weight))))};
+// return {zones, zones[zone_index]};
+// }
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnSpot.h b/engine/src/Utils/Spawning/SpawnSpot.h
new file mode 100644
index 00000000..84804855
--- /dev/null
+++ b/engine/src/Utils/Spawning/SpawnSpot.h
@@ -0,0 +1,39 @@
+/********************************************************************************
+ * 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 "Interval.h"
+#include "Obstacle.h"
+#include "VelocityRange.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+/// A SpawnSpot is an interval that holds necessary information for a SpawnSpace to determine whether an
+/// entity can and should be spawned within it. This includes the velocities of the obstacle before and after it
+/// and a pointer to the spot's zone so that the SpawnSpace can look for the further spots within that zone.
+struct SpawnSpot : Interval
+{
+ constexpr SpawnSpot(Interval &&, VelocityRange &&);
+
+ constexpr SpawnSpot(const Obstacle &before, const Obstacle &after);
+
+ VelocityRange velocity;
+};
+} // namespace OpenScenarioEngine::v1_3
+
+namespace OpenScenarioEngine::v1_3
+{
+constexpr SpawnSpot::SpawnSpot(Interval &&interval, VelocityRange &&velocity)
+ : Interval{std::move(interval)}, velocity{std::move(velocity)} {}
+
+constexpr SpawnSpot::SpawnSpot(const Obstacle &before, const Obstacle &after)
+ : Interval{before.max, after.min}, velocity{before.velocity, after.velocity} {}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnZone.cpp b/engine/src/Utils/Spawning/SpawnZone.cpp
index 88a4e93e..d682f779 100644
--- a/engine/src/Utils/Spawning/SpawnZone.cpp
+++ b/engine/src/Utils/Spawning/SpawnZone.cpp
@@ -17,86 +17,34 @@
namespace OpenScenarioEngine::v1_3
{
-SpawnZone::SpawnZone(std::vector<Interval> input)
- : Iterable<std::vector<Interval>>{std::move(input)}, lengths{units::length::meter_t{}}
+SpawnZone::SpawnZone(Interval&& interval, std::set<Obstacle, Less<ToMin>>&& obstacles)
+ : Interval{std::move(interval)}, obstacles{std::move(obstacles)} {}
+
+SpawnZone::SpawnZone(const mantle_api::ITrafficAreaStream& stream)
+ : SpawnZone{Interval{{}, ToLength{}(stream)}, GetObstacles(stream)}
{
- Transform(GetContainer(), lengths, ToAccumulatedLength{});
}
-void SpawnZone::UpdateIndexToLongest()
+SpawnZones::SpawnZones(std::vector<SpawnZone> input)
+ : Iterable<std::vector<SpawnZone>>{std::move(input)}
{
- indexToLongest = std::distance(begin(), std::max_element(begin(), end(), [](const auto& a, const auto& b)
- { return a.GetLength() < b.GetLength(); }));
}
-void SpawnZone::RemoveInterval(Interval interval)
+SpawnZone ToSpawnZone::operator()(const mantle_api::ITrafficAreaStream& stream) const
{
- auto candidate{std::upper_bound(begin(), end(), interval.max, [](units::length::meter_t threshold, const Interval& entry)
- { return threshold <= entry.max; })};
- assert(candidate != end());
- assert(candidate->min <= interval.min);
- assert(candidate->max >= interval.max);
- const auto offset{std::distance(begin(), candidate)};
- if (candidate->min == interval.min)
- {
- if (candidate->max == interval.max)
- {
- lengths.erase(std::next(lengths.begin(), offset + 1));
- GetContainer().erase(candidate);
- if (indexToLongest == offset)
- {
- UpdateIndexToLongest();
- }
- else if (indexToLongest > offset + 1)
- {
- --indexToLongest;
- }
- }
- else
- {
- candidate->min = interval.max;
- if (indexToLongest == offset)
- {
- UpdateIndexToLongest();
- }
- }
- std::transform(std::next(begin(), offset),
- end(),
- std::next(lengths.begin(), offset),
- ToAccumulatedLength{offset ? *std::next(lengths.begin(), offset - 1) : units::length::meter_t{}});
- return;
- }
- else if (candidate->max == interval.max)
- {
- candidate->max = interval.min;
- if (indexToLongest == offset)
- {
- indexToLongest = std::distance(lengths.begin(), std::max_element(lengths.begin(), lengths.end()));
- }
- std::transform(std::next(begin(), offset),
- end(),
- std::next(lengths.begin(), offset),
- ToAccumulatedLength{offset ? *std::next(lengths.begin(), offset - 1) : units::length::meter_t{}});
- return;
- }
- GetContainer().emplace(std::next(candidate), interval.max, candidate->max);
- lengths.push_back(units::length::meter_t{});
- std::next(begin(), offset)->max = interval.min;
- std::transform(std::next(begin(), offset),
- end(),
- std::next(lengths.begin(), offset),
- ToAccumulatedLength{offset ? *std::next(lengths.begin(), offset - 1) : units::length::meter_t{}});
+ return {stream};
}
-SpawnZones::SpawnZones(std::vector<SpawnZone> input)
- : Iterable<std::vector<SpawnZone>>{std::move(input)}, lengths{units::length::meter_t{}}
+SpawnZone ToSpawnZone::operator()(const std::shared_ptr<mantle_api::ITrafficAreaStream>& stream) const
{
- Transform(GetContainer(), lengths, ToAccumulatedLength{});
+ return (*this)(*stream);
}
-} // namespace OpenScenarioEngine::v1_3
-namespace OpenScenarioEngine::v1_3
+SpawnZones::SpawnZones(const mantle_api::TrafficArea& area)
+ : SpawnZones{Transform(area, ToSpawnZone{})}
{
+}
+
SpawnZones ToSpawnZones::operator()(const mantle_api::TrafficArea& area) const
{
return {area};
diff --git a/engine/src/Utils/Spawning/SpawnZone.h b/engine/src/Utils/Spawning/SpawnZone.h
index 92389b28..d3c182c4 100644
--- a/engine/src/Utils/Spawning/SpawnZone.h
+++ b/engine/src/Utils/Spawning/SpawnZone.h
@@ -14,53 +14,44 @@
#include <MantleAPI/Traffic/i_traffic_area_stream.h>
#include <units.h>
+#include <optional>
+#include <set>
#include <vector>
#include "Common.h"
#include "Interval.h"
#include "Iterable.h"
+#include "SpawnSpot.h"
namespace OpenScenarioEngine::v1_3
{
-struct SpawnZone : Iterable<std::vector<Interval>>
+struct SpawnZone : Interval
{
- SpawnZone(std::vector<Interval>);
+ SpawnZone(Interval&&, std::set<Obstacle, Less<ToMin>>&&);
- template <typename Filter = Return<true>>
- SpawnZone(const mantle_api::ITrafficAreaStream&, Filter&&);
+ SpawnZone(const mantle_api::ITrafficAreaStream&);
- /// Removes the given interval from this spawn zone and updates the interval lengths and index to the longest interval if necessary
- ///
- /// \param Interval Interval guaranteed to be a subset of an interval of this zone
- void RemoveInterval(Interval);
+ const Interval& GetLongestInterval() const;
+ Interval& GetLongestInterval();
- void UpdateIndexToLongest();
+ template <typename Predicate>
+ std::optional<SpawnSpot> GetLastSpawnSpot(Predicate&&) const;
- std::vector<units::length::meter_t> lengths;
- std::ptrdiff_t indexToLongest;
+ std::set<Obstacle, Less<ToMin>> obstacles;
};
-template <typename Filter = Return<true>>
struct ToSpawnZone
{
SpawnZone operator()(const mantle_api::ITrafficAreaStream&) const;
SpawnZone operator()(const std::shared_ptr<mantle_api::ITrafficAreaStream>&) const;
-
- Filter filter;
};
-template <typename Filter>
-ToSpawnZone(Filter&&) -> ToSpawnZone<Filter>;
-
struct SpawnZones : Iterable<std::vector<SpawnZone>>
{
SpawnZones(std::vector<SpawnZone>);
- template <typename Filter = Return<true>>
- SpawnZones(const mantle_api::TrafficArea&, Filter&& = {});
-
- std::vector<units::length::meter_t> lengths;
+ SpawnZones(const mantle_api::TrafficArea&);
};
struct ToSpawnZones
@@ -71,27 +62,31 @@ struct ToSpawnZones
namespace OpenScenarioEngine::v1_3
{
-template <typename Filter>
-SpawnZone ToSpawnZone<Filter>::operator()(const mantle_api::ITrafficAreaStream& stream) const
-{
- return {stream, filter};
-}
-
-template <typename Filter>
-SpawnZone ToSpawnZone<Filter>::operator()(const std::shared_ptr<mantle_api::ITrafficAreaStream>& stream) const
-{
- return (*this)(*stream);
-}
-
-template <typename Filter>
-SpawnZone::SpawnZone(const mantle_api::ITrafficAreaStream& stream, Filter&& filter)
- : SpawnZone{GetFreeIntervals(stream, std::forward<Filter>(filter))}
-{
-}
-
-template <typename Filter>
-SpawnZones::SpawnZones(const mantle_api::TrafficArea& area, Filter&& filter)
- : SpawnZones{Transform(area, ToSpawnZone{std::forward<Filter>(filter)})}
+template <typename Predicate>
+std::optional<SpawnSpot> SpawnZone::GetLastSpawnSpot(Predicate&& pred) const
{
+ auto obstacle_before{std::find_if(obstacles.rbegin(),
+ obstacles.rend(),
+ [this](const Obstacle& obstacle)
+ { return obstacle.min < max; })};
+ if (obstacle_before == obstacles.rend())
+ { // There are no obstacles
+ return pred(*this) ? std::optional<SpawnSpot>{*this, {}} : std::nullopt;
+ }
+ auto obstacle_after{obstacle_before++};
+ while (obstacle_before != obstacles.rend())
+ {
+ if (SpawnSpot candidate{*obstacle_before, *obstacle_after}; pred(candidate))
+ { // Obstacle before and after the spawn spot
+ return std::move(candidate);
+ }
+ ++obstacle_before;
+ ++obstacle_after;
+ }
+ if (SpawnSpot candidate{Obstacle::GetStartingSentinel(min), *obstacle_after}; obstacle_after->min > min && pred(candidate))
+ { // No obstacle before, but an obstacle after the spawn spot
+ return std::move(candidate);
+ }
+ return std::nullopt;
}
} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
diff --git a/engine/src/Utils/Spawning/VelocityRange.cpp b/engine/src/Utils/Spawning/VelocityRange.cpp
new file mode 100644
index 00000000..ba65e1a1
--- /dev/null
+++ b/engine/src/Utils/Spawning/VelocityRange.cpp
@@ -0,0 +1,54 @@
+/********************************************************************************
+ * 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 "VelocityRange.h"
+
+#include <exception>
+#include <string>
+
+namespace OpenScenarioEngine::v1_3
+{
+VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject &object) const
+{
+ return object.GetVehicle() ? (*this)(object.GetVehicle()) : (*this)(object.GetPedestrian());
+}
+
+VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle &vehicle) const
+{
+ return (*this)(vehicle.GetProperties());
+}
+
+VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian &pedestrian) const
+{
+ return (*this)(pedestrian.GetProperties());
+}
+
+VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties &properties) const
+{
+ const auto &entries{properties.GetProperties()};
+ const auto min_match{std::find_if(entries.begin(),
+ entries.end(),
+ [](const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IProperty> &entry)
+ { return entry->GetName() == "MinVelocity"; })};
+ if (min_match == entries.end())
+ {
+ throw std::range_error("ToSpawnVelocityRange: 'MinVelocity' not found in properties");
+ }
+ const auto max_match{std::find_if(entries.begin(),
+ entries.end(),
+ [](const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IProperty> &entry)
+ { return entry->GetName() == "MaxVelocity"; })};
+ if (max_match == entries.end())
+ {
+ throw std::range_error("ToSpawnVelocityRange: 'MaxVelocity' not found in properties");
+ }
+ return {units::length::meter_t{std::stod((*min_match)->GetValue())}, units::length::meter_t{std::stod((*max_match)->GetValue())}};
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/VelocityRange.h b/engine/src/Utils/Spawning/VelocityRange.h
new file mode 100644
index 00000000..e851efc0
--- /dev/null
+++ b/engine/src/Utils/Spawning/VelocityRange.h
@@ -0,0 +1,78 @@
+/********************************************************************************
+ * 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 <units.h>
+
+#include <memory>
+
+#include "openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+struct SpawnZone;
+
+struct VelocityRange
+{
+ units::velocity::meters_per_second_t min{std::numeric_limits<double>::lowest()}, max{std::numeric_limits<double>::max()};
+
+ constexpr bool Contains(const VelocityRange &) const;
+
+ constexpr units::velocity::meters_per_second_t GetDifference() const;
+};
+
+struct ToSpawnVelocityRange
+{
+ constexpr VelocityRange operator()(VelocityRange) const;
+
+ template <typename Type>
+ VelocityRange operator()(const std::shared_ptr<Type> &) const;
+
+ VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject &) const;
+ VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IMiscObject &) const;
+ VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle &) const;
+ VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian &) const;
+ VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties &) const;
+};
+
+template <typename Input>
+VelocityRange GetSpawnVelocityRange(Input &&);
+
+} // namespace OpenScenarioEngine::v1_3
+
+namespace OpenScenarioEngine::v1_3
+{
+constexpr bool VelocityRange::Contains(const VelocityRange &other) const
+{
+ return min <= other.min && other.max <= max;
+}
+
+constexpr units::velocity::meters_per_second_t VelocityRange::GetDifference() const
+{
+ return max - min;
+}
+
+constexpr VelocityRange ToSpawnVelocityRange::operator()(VelocityRange input) const
+{
+ return input;
+}
+
+template <typename Type>
+VelocityRange ToSpawnVelocityRange::operator()(const std::shared_ptr<Type> &input) const
+{
+ return ToSpawnVelocityRange{}(*input);
+}
+
+template <typename Input>
+VelocityRange GetSpawnVelocityRange(Input &&input)
+{
+ return ToSpawnVelocityRange{}(std::forward<Input>(input));
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Weight.h b/engine/src/Utils/Spawning/Weight.h
new file mode 100644
index 00000000..374efefa
--- /dev/null
+++ b/engine/src/Utils/Spawning/Weight.h
@@ -0,0 +1,92 @@
+/********************************************************************************
+ * 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 <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
+#include <units.h>
+
+#include <memory>
+
+namespace OpenScenarioEngine::v1_3
+{
+struct ToWeight
+{
+ constexpr units::dimensionless::scalar_t operator()(units::dimensionless::scalar_t) const;
+
+ template <typename Type>
+ units::dimensionless::scalar_t operator()(const std::shared_ptr<Type>&) const;
+
+ units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate&) const;
+
+ units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject&) const;
+
+ units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian&) const;
+
+ units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle&) const;
+
+ units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties&) const;
+};
+
+template <typename Input>
+units::dimensionless::scalar_t GetWeight(Input&&);
+} // namespace OpenScenarioEngine::v1_3
+
+namespace OpenScenarioEngine::v1_3
+{
+constexpr units::dimensionless::scalar_t ToWeight::operator()(units::dimensionless::scalar_t value) const
+{
+ return value;
+}
+
+template <typename Type>
+units::dimensionless::scalar_t ToWeight::operator()(const std::shared_ptr<Type>& input) const
+{
+ return ToWeight{}(*input);
+}
+
+template <typename Input>
+units::dimensionless::scalar_t GetWeight(Input&& input)
+{
+ return ToWeight{}(std::forward<Input>(input));
+}
+
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate& object) const
+{
+ return ToWeight{}(object.GetEntityObject());
+}
+
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject& object) const
+{
+ return object.GetVehicle() ? ToWeight{}(object.GetVehicle()) : ToWeight{}(object.GetPedestrian());
+}
+
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian& pedestrian) const
+{
+ return ToWeight{}(pedestrian.GetProperties());
+}
+
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle& vehicle) const
+{
+ return ToWeight{}(vehicle.GetProperties());
+}
+
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties& properties) const
+{
+ const auto& entries{properties.GetProperties()};
+ auto match{std::find_if(entries.begin(), entries.end(), [](const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IProperty>& entry)
+ { return entry->GetName() == "Weight"; })};
+ if (match != entries.end())
+ {
+ return units::dimensionless::scalar_t{std::stod((*match)->GetValue())};
+ }
+ throw std::runtime_error("ToWeight: 'Weight' not found in properties");
+}
+} // namespace OpenScenarioEngine::v1_3
--
GitLab
From 7e6be64ef0db0d9c2006ab529d6340bebb5d8f18 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Fri, 17 Jan 2025 10:58:40 +0100
Subject: [PATCH 08/26] Apply various spawning adjustments
---
engine/CMakeLists.txt | 8 +----
engine/cmake/generated_files.cmake | 1 -
.../ConvertScenarioTrafficDistribution.cpp | 2 +-
.../GenericAction/TrafficAreaAction.cpp | 3 --
.../GenericAction/TrafficAreaAction.h | 4 ++-
engine/src/Utils/Spawning/Common.h | 1 +
engine/src/Utils/Spawning/Length.cpp | 22 +++++++++---
engine/src/Utils/Spawning/Length.h | 27 +++++---------
engine/src/Utils/Spawning/LinkedInterval.cpp | 34 ------------------
engine/src/Utils/Spawning/LinkedInterval.h | 36 -------------------
engine/src/Utils/Spawning/SpawnSpace.cpp | 34 +++++++++---------
engine/src/Utils/Spawning/SpawnSpace.h | 2 ++
engine/src/Utils/Spawning/SpawnZone.h | 3 +-
engine/src/Utils/Spawning/Weight.h | 24 +++++++++++++
utils/ci/conan/conanfile.txt | 4 +--
.../conan/recipe/mantleapi/all/conandata.yml | 4 ---
.../openscenario_engine/all/conanfile.py | 2 +-
17 files changed, 80 insertions(+), 131 deletions(-)
delete mode 100644 engine/src/Utils/Spawning/LinkedInterval.cpp
delete mode 100644 engine/src/Utils/Spawning/LinkedInterval.h
diff --git a/engine/CMakeLists.txt b/engine/CMakeLists.txt
index fed70383..b339fbfe 100644
--- a/engine/CMakeLists.txt
+++ b/engine/CMakeLists.txt
@@ -55,12 +55,6 @@ target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)
find_package(OpenScenarioAPI REQUIRED MODULE)
find_package(Antlr4Runtime REQUIRED MODULE)
-include(FetchContent)
-FetchContent_Declare(Stochastics
- URL https://gitlab.eclipse.org/eclipse/openpass/stochastics-library/-/archive/main/stochastics-library-main.zip
- EXCLUDE_FROM_ALL)
-FetchContent_MakeAvailable(Stochastics)
-
include(cmake/generated_files.cmake)
target_sources(
@@ -81,7 +75,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC antlr4_runtime::shared
openscenario_api::shared
units::units
Yase::agnostic_behavior_tree
- PRIVATE Stochastics)
+ PRIVATE Stochastics::Stochastics)
if(USE_CCACHE)
find_program(CCACHE_FOUND ccache)
diff --git a/engine/cmake/generated_files.cmake b/engine/cmake/generated_files.cmake
index 42b52e31..3700be3b 100644
--- a/engine/cmake/generated_files.cmake
+++ b/engine/cmake/generated_files.cmake
@@ -234,7 +234,6 @@ list(APPEND ${PROJECT_NAME}_SOURCES
src/Storyboard/MotionControlAction/SpeedAction_impl.cpp
src/Utils/Spawning/Interval.cpp
src/Utils/Spawning/Length.cpp
- src/Utils/Spawning/LinkedInterval.cpp
src/Utils/Spawning/Obstacle.cpp
src/Utils/Spawning/SpawnSpace.cpp
src/Utils/Spawning/SpawnZone.cpp
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
index ae0eb73c..28cfdb42 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
@@ -10,8 +10,8 @@
#include "ConvertScenarioTrafficDistribution.h"
-#include "Utils/Spawning/Length.h"
#include "Utils/Spawning/Transform.h"
+#include "Utils/Spawning/Weight.h"
namespace OpenScenarioEngine::v1_3
{
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
index 6777a273..5a1bfbf5 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
@@ -10,8 +10,6 @@
#include "Storyboard/GenericAction/TrafficAreaAction.h"
-#include <Stochastics/Stochastics.h>
-
#include "Conversion/OscToMantle/ConvertScenarioTrafficArea.h"
#include "Utils/EntityCreator.h"
#include "Utils/Logger.h"
@@ -66,7 +64,6 @@ bool TrafficAreaAction::Step()
EntityCreator spawner{mantle.environment};
std::vector<SpawnZones> spawnZones{Transform(trafficAreas, ToSpawnZones{})};
SpawnSpace spawnSpace{values.trafficDistributions, spawnZones};
- Stochastics rng;
while (values.numberOfEntities)
{
if (!spawnSpace.Spawn(spawner, rng))
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.h b/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
index 1e63a341..22cd970d 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
@@ -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
@@ -12,6 +12,7 @@
#include <MantleAPI/Execution/i_environment.h>
#include <MantleAPI/Traffic/i_traffic_area_service.h>
+#include <Stochastics/Stochastics.h>
#include <Stochastics/StochasticsInterface.h>
#include <agnostic_behavior_tree/action_node.h>
#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
@@ -52,6 +53,7 @@ private:
/// The accumulated size of all traffic areas up to and including the index of the respective element.
/// Does not account for overlapping areas.
std::vector<units::length::meter_t> lengths;
+ Stochastics rng;
};
namespace Node
diff --git a/engine/src/Utils/Spawning/Common.h b/engine/src/Utils/Spawning/Common.h
index 3d16791a..eff3b449 100644
--- a/engine/src/Utils/Spawning/Common.h
+++ b/engine/src/Utils/Spawning/Common.h
@@ -13,6 +13,7 @@
#include <units.h>
#include <algorithm>
+#include <cassert>
#include <functional>
#include <memory>
#include <type_traits>
diff --git a/engine/src/Utils/Spawning/Length.cpp b/engine/src/Utils/Spawning/Length.cpp
index cd6310c9..8643a25f 100644
--- a/engine/src/Utils/Spawning/Length.cpp
+++ b/engine/src/Utils/Spawning/Length.cpp
@@ -13,6 +13,8 @@
#include <cassert>
#include <numeric>
+#include "SpawnSpace.h"
+
namespace OpenScenarioEngine::v1_3
{
units::length::meter_t ToLength::operator()(const mantle_api::ITrafficAreaStream& stream) const
@@ -25,6 +27,21 @@ units::length::meter_t ToLength::operator()(const mantle_api::TrafficArea& area)
return std::transform_reduce(area.begin(), area.end(), units::length::meter_t{}, std::plus<>{}, *this);
}
+units::length::meter_t ToLength::operator()(const WeightedEntity& entity) const
+{
+ return (*this)(entity.handle);
+}
+
+units::length::meter_t ToLength::operator()(const mantle_api::IEntity& entity) const
+{
+ return (*this)(entity.GetProperties());
+}
+
+units::length::meter_t ToLength::operator()(const mantle_api::EntityProperties& properties) const
+{
+ return properties.bounding_box.dimension.length;
+}
+
units::length::meter_t ToLength::operator()(const SpawnZone& zone) const
{
return zone.GetLength() - std::transform_reduce(zone.obstacles.begin(), zone.obstacles.end(), units::length::meter_t{}, std::plus<>{}, *this);
@@ -35,11 +52,6 @@ units::length::meter_t ToLength::operator()(const SpawnZones& zones) const
return std::transform_reduce(zones.begin(), zones.end(), units::length::meter_t{}, std::plus<>{}, *this);
}
-units::length::meter_t ToLength::operator()(const LinkedInterval& interval) const
-{
- return ToLength{}(*interval.interval);
-}
-
units::length::meter_t ToLength::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject& object) const
{
if (decltype(auto) vehicle{object.GetVehicle()}; vehicle != nullptr)
diff --git a/engine/src/Utils/Spawning/Length.h b/engine/src/Utils/Spawning/Length.h
index 01a96046..7c81c36f 100644
--- a/engine/src/Utils/Spawning/Length.h
+++ b/engine/src/Utils/Spawning/Length.h
@@ -10,6 +10,7 @@
#pragma once
+#include <MantleAPI/Traffic/i_entity.h>
#include <MantleAPI/Traffic/i_traffic_area_service.h>
#include <MantleAPI/Traffic/i_traffic_area_stream.h>
#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
@@ -19,25 +20,30 @@
#include "Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h"
#include "Interval.h"
-#include "LinkedInterval.h"
#include "SpawnZone.h"
#include "Transform.h"
namespace OpenScenarioEngine::v1_3
{
+struct WeightedEntity;
+
struct ToLength
{
constexpr units::length::meter_t operator()(units::length::meter_t) const;
constexpr units::length::meter_t operator()(const Interval&) const;
- units::length::meter_t operator()(const LinkedInterval&) const;
-
units::length::meter_t operator()(const mantle_api::ITrafficAreaStream&) const;
template <typename Type>
units::length::meter_t operator()(const std::shared_ptr<Type>&) const;
+ units::length::meter_t operator()(const WeightedEntity&) const;
+
+ units::length::meter_t operator()(const mantle_api::IEntity&) const;
+
+ units::length::meter_t operator()(const mantle_api::EntityProperties&) const;
+
template <typename Type>
units::length::meter_t operator()(const Type*) const;
@@ -71,14 +77,6 @@ struct ToAccumulatedLength
units::length::meter_t totalLength;
};
-
-struct ToAccumulatedWeight
-{
- template <typename Entry>
- units::dimensionless::scalar_t operator()(const Entry&);
-
- units::dimensionless::scalar_t totalWeight;
-};
} // namespace OpenScenarioEngine::v1_3
namespace OpenScenarioEngine::v1_3
@@ -134,11 +132,4 @@ units::length::meter_t ToAccumulatedLength::operator()(const Type& input)
totalLength += GetLength(input);
return totalLength;
}
-
-template <typename Entry>
-units::dimensionless::scalar_t ToAccumulatedWeight::operator()(const Entry& entry)
-{
- totalWeight += units::dimensionless::scalar_t{entry.GetWeight()};
- return totalWeight;
-}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/LinkedInterval.cpp b/engine/src/Utils/Spawning/LinkedInterval.cpp
deleted file mode 100644
index 6556f22d..00000000
--- a/engine/src/Utils/Spawning/LinkedInterval.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-/********************************************************************************
- * 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 "LinkedInterval.h"
-
-#include "SpawnZone.h"
-
-namespace OpenScenarioEngine::v1_3
-{
-VelocityRange LinkedInterval::GetVelocityRange() const
-{
- const size_t index{static_cast<size_t>(std::distance(zone->begin(), interval))};
- return {zone->velocities[index], zone->velocities[index + 1]};
-}
-
-units::velocity::meters_per_second_t LinkedInterval::GetMinVelocity() const
-{
- const size_t index{static_cast<size_t>(std::distance(zone->begin(), interval))};
- return zone->velocities[index];
-}
-
-units::velocity::meters_per_second_t LinkedInterval::GetMaxVelocity() const
-{
- const size_t index{static_cast<size_t>(std::distance(zone->begin(), interval))};
- return zone->velocities[index + 1];
-}
-} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/LinkedInterval.h b/engine/src/Utils/Spawning/LinkedInterval.h
deleted file mode 100644
index cb3780ec..00000000
--- a/engine/src/Utils/Spawning/LinkedInterval.h
+++ /dev/null
@@ -1,36 +0,0 @@
-/********************************************************************************
- * 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 <vector>
-
-#include "Interval.h"
-#include "VelocityRange.h"
-
-namespace OpenScenarioEngine::v1_3
-{
-struct SpawnZone;
-
-// A LinkedInterval holds an iterator to an Interval and a pointer to the container of that interval (its SpawnZone).
-// This is done so that there can be a list of all Intervals regardless of their SpawnZone while still being able to refer
-// back to the zone they are a part of. That way, an interval can be sampled with a fair distribution efficiently while
-// also reducing the amount of length recomputations needed when an interval is changed/removed. (See SpawnSpace)
-struct LinkedInterval
-{
- units::velocity::meters_per_second_t GetMinVelocity() const;
-
- units::velocity::meters_per_second_t GetMaxVelocity() const;
-
- VelocityRange GetVelocityRange() const;
-
- std::vector<Interval>::iterator interval;
- SpawnZone* zone;
-};
-} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnSpace.cpp b/engine/src/Utils/Spawning/SpawnSpace.cpp
index 1b1a5761..7bf14331 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.cpp
+++ b/engine/src/Utils/Spawning/SpawnSpace.cpp
@@ -23,8 +23,8 @@ SpawnSpace::SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &dis
{
// Add entities
{
- const size_t number_of_entities{std::transform_reduce(distributions.begin(), distributions.end(), size_t{}, std::plus<>{}, ToSize{})};
- entities.reserve(number_of_entities);
+ const size_t numberOfEntities{std::transform_reduce(distributions.begin(), distributions.end(), size_t{}, std::plus<>{}, ToSize{})};
+ entities.reserve(numberOfEntities);
}
for (auto &distribution : distributions)
{
@@ -53,20 +53,20 @@ units::length::meter_t SpawnSpace::GetMaxIntervalLength() const
return GetLength(*spots.rbegin());
}
-std::vector<WeightedEntity>::const_iterator SpawnSpace::FindSpawnableEntityEnd(units::length::meter_t upper_bound) const
+std::vector<WeightedEntity>::const_iterator SpawnSpace::FindSpawnableEntityEnd(units::length::meter_t upperBound) const
{
- return std::upper_bound(entities.begin(), entities.end(), [upper_bound](const Entity &entity)
- { return GetLength(entity) < upper_bound; });
+ return std::upper_bound(entities.begin(), entities.end(), upperBound, [](units::length::meter_t upperBound, const WeightedEntity &entity)
+ { return GetLength(entity) < upperBound; });
}
-std::vector<WeightedEntity>::iterator SpawnSpace::FindSpawnableEntityEnd(units::length::meter_t upper_bound)
+std::vector<WeightedEntity>::iterator SpawnSpace::FindSpawnableEntityEnd(units::length::meter_t upperBound)
{
- return std::upper_bound(entities.begin(), entities.end(), [upper_bound](const Entity &entity)
- { return GetLength(entity) < upper_bound; });
+ return std::upper_bound(entities.begin(), entities.end(), upperBound, [](units::length::meter_t upperBound, const WeightedEntity &entity)
+ { return GetLength(entity) < upperBound; });
}
-std::set<SpawnSpot, Less<ToLength>>::const_iterator SpawnSpace::SampleInterval(units::length::meter_t min_length, VelocityRange velocity, StochasticsInterface &rng) const
+std::set<SpawnSpot, Less<ToLength>>::const_iterator SpawnSpace::SampleSpot(units::length::meter_t minLength, VelocityRange velocity, StochasticsInterface &rng) const
{
- auto spot{spots.lower_bound(min_length)};
+ auto spot{spots.lower_bound(minLength)};
if (spot == spots.end())
{
return spots.end();
@@ -74,22 +74,22 @@ std::set<SpawnSpot, Less<ToLength>>::const_iterator SpawnSpace::SampleInterval(u
std::vector<decltype(spot)> candidates;
for (; spot != spots.end(); ++spot)
{
- const bool can_keep_up{spot->velocity.Contains(velocity)};
- const bool is_enough_room_after_2_seconds{GetLength(*spot) - spot->velocity.GetDifference() * units::time::second_t{2.0} > min_length};
- if (can_keep_up && is_enough_room_after_2_seconds)
+ const bool canKeepUp{spot->velocity.Contains(velocity)};
+ const bool isEnoughRoomAfter2Seconds{GetLength(*spot) - spot->velocity.GetDifference() * units::time::second_t{2.0} > minLength};
+ if (canKeepUp && isEnoughRoomAfter2Seconds)
{
candidates.push_back(spot);
}
}
- if (candidates.empty())
+ if (candidates.size() <= 1)
{
- return spots.end();
+ return candidates.empty() ? spots.end() : candidiates.begin();
}
ToAccumulatedLength accumulator;
std::vector<units::length::meter_t> lengths{Transform(candidates,
[&accumulator](const auto iterator)
{ return accumulator(*iterator); })};
- const units::length::meter_t sampled_length{rng.GetUniformDistributed(.0, lengths.back().value())};
- return Sample(candidates, lengths, sampled_length);
+ const units::length::meter_t sampledLength{rng.GetUniformDistributed(.0, lengths.back().value())};
+ return Sample(candidates, lengths, sampledLength);
}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnSpace.h b/engine/src/Utils/Spawning/SpawnSpace.h
index d277b4b0..8b257a53 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.h
+++ b/engine/src/Utils/Spawning/SpawnSpace.h
@@ -11,8 +11,10 @@
#pragma once
#include <Stochastics/StochasticsInterface.h>
+#include <units.h>
#include <cassert>
+#include <memory>
#include <set>
#include <utility>
#include <vector>
diff --git a/engine/src/Utils/Spawning/SpawnZone.h b/engine/src/Utils/Spawning/SpawnZone.h
index d3c182c4..4f8336f9 100644
--- a/engine/src/Utils/Spawning/SpawnZone.h
+++ b/engine/src/Utils/Spawning/SpawnZone.h
@@ -25,8 +25,9 @@
namespace OpenScenarioEngine::v1_3
{
-struct SpawnZone : Interval
+class SpawnZone : public Interval
{
+public:
SpawnZone(Interval&&, std::set<Obstacle, Less<ToMin>>&&);
SpawnZone(const mantle_api::ITrafficAreaStream&);
diff --git a/engine/src/Utils/Spawning/Weight.h b/engine/src/Utils/Spawning/Weight.h
index 374efefa..944cb6c2 100644
--- a/engine/src/Utils/Spawning/Weight.h
+++ b/engine/src/Utils/Spawning/Weight.h
@@ -26,6 +26,8 @@ struct ToWeight
units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate&) const;
+ units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry&) const;
+
units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject&) const;
units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian&) const;
@@ -33,10 +35,20 @@ struct ToWeight
units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle&) const;
units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties&) const;
+
+ units::dimensionless::scalar_t operator()(const WeightedEntity&) const;
};
template <typename Input>
units::dimensionless::scalar_t GetWeight(Input&&);
+
+struct ToAccumulatedWeight
+{
+ template <typename Entry>
+ units::dimensionless::scalar_t operator()(const Entry&);
+
+ units::dimensionless::scalar_t totalWeight;
+};
} // namespace OpenScenarioEngine::v1_3
namespace OpenScenarioEngine::v1_3
@@ -63,6 +75,11 @@ units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO:
return ToWeight{}(object.GetEntityObject());
}
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry& entry) const
+{
+ return units::dimensionless::scalar_t{entry.GetWeight()};
+}
+
units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject& object) const
{
return object.GetVehicle() ? ToWeight{}(object.GetVehicle()) : ToWeight{}(object.GetPedestrian());
@@ -89,4 +106,11 @@ units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO:
}
throw std::runtime_error("ToWeight: 'Weight' not found in properties");
}
+
+template <typename Entry>
+units::dimensionless::scalar_t ToAccumulatedWeight::operator()(const Entry& entry)
+{
+ totalWeight += GetWeight(entry);
+ return totalWeight;
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/utils/ci/conan/conanfile.txt b/utils/ci/conan/conanfile.txt
index 849dff88..7e405f78 100644
--- a/utils/ci/conan/conanfile.txt
+++ b/utils/ci/conan/conanfile.txt
@@ -1,9 +1,9 @@
[requires]
-units/2.3.4@openscenarioengine/testing
mantleapi/v11.0.0@openscenarioengine/testing
-yase/d0c0e58d17358044cc9018c74308b45f6097ecfb@openscenarioengine/testing
openscenario_api/v1.4.0@openscenarioengine/testing
stochastics/0.11.0@openscenarioengine/testing
+units/2.3.4@openscenarioengine/testing
+yase/d0c0e58d17358044cc9018c74308b45f6097ecfb@openscenarioengine/testing
[options]
diff --git a/utils/ci/conan/recipe/mantleapi/all/conandata.yml b/utils/ci/conan/recipe/mantleapi/all/conandata.yml
index 56d0b1a5..30e9ad2a 100644
--- a/utils/ci/conan/recipe/mantleapi/all/conandata.yml
+++ b/utils/ci/conan/recipe/mantleapi/all/conandata.yml
@@ -41,10 +41,6 @@ sources:
url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git
sha256: "a5530013edcd2028ce48d1dcd7e90a512c158f27"
- "6.0.1":
- url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git
- sha256: "4c04afb373d26b9e4ddcae3fd920f6c5543a19f2"
-
"8.0.0":
url: https://gitlab.eclipse.org/eclipse/openpass/mantle-api.git
sha256: "18eadd8ad4f3ddd78c955ce3d4d637a8ff912091"
diff --git a/utils/ci/conan/recipe/openscenario_engine/all/conanfile.py b/utils/ci/conan/recipe/openscenario_engine/all/conanfile.py
index b79fb3fa..43f2201c 100644
--- a/utils/ci/conan/recipe/openscenario_engine/all/conanfile.py
+++ b/utils/ci/conan/recipe/openscenario_engine/all/conanfile.py
@@ -25,7 +25,7 @@ class OpenScenarioEngineConan(ConanFile):
settings = "os", "compiler", "build_type", "arch"
options = {"shared": [True, False],
"fPIC": [True, False],
- "MantleAPI_version":["6.0.1"],
+ "MantleAPI_version":["ANY"],
"openscenario_api_version":["ANY"],
"units_version":["ANY"],
"Yase_version":["ANY"]
--
GitLab
From 72b7da93b865e1f022e226679a87ee9d24c3d2d1 Mon Sep 17 00:00:00 2001
From: Naida Goro <naida.goro@in-tech.com>
Date: Thu, 30 Jan 2025 11:12:36 +0000
Subject: [PATCH 09/26] Fix some build errors in the branch traffic-area-action
---
engine/CMakeLists.txt | 2 ++
engine/cmake/generated_files.cmake | 1 +
.../ConvertScenarioTrafficDistribution.cpp | 6 +++---
engine/src/Utils/Spawning/SpawnSpace.cpp | 18 ++++++++++++++++--
engine/src/Utils/Spawning/SpawnSpace.h | 13 -------------
engine/src/Utils/Spawning/VelocityRange.cpp | 2 +-
engine/src/Utils/Spawning/Weight.h | 4 +++-
7 files changed, 26 insertions(+), 20 deletions(-)
diff --git a/engine/CMakeLists.txt b/engine/CMakeLists.txt
index b339fbfe..d81c00c2 100644
--- a/engine/CMakeLists.txt
+++ b/engine/CMakeLists.txt
@@ -48,6 +48,8 @@ find_package(Stochastics REQUIRED)
# see https://stackoverflow.com/a/58495612
set(CMAKE_INSTALL_RPATH $ORIGIN)
+find_package(Stochastics REQUIRED CONFIG)
+
add_library(${PROJECT_NAME} SHARED "")
target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)
diff --git a/engine/cmake/generated_files.cmake b/engine/cmake/generated_files.cmake
index 3700be3b..5e4d2eb2 100644
--- a/engine/cmake/generated_files.cmake
+++ b/engine/cmake/generated_files.cmake
@@ -598,6 +598,7 @@ list(APPEND ${PROJECT_NAME}_HEADERS
src/Utils/Spawning/Length.h
src/Utils/Spawning/SpawnZone.h
src/Utils/Spawning/Transform.h
+ src/Utils/Spawning/Weight.h
src/Utils/ConditionEdgeEvaluator.h
src/Utils/Constants.h
src/Utils/ControllerCreator.h
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
index 28cfdb42..bba5d9a4 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
@@ -1,5 +1,5 @@
/********************************************************************************
- * Copyright (c) 2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2024-2025 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
@@ -19,7 +19,7 @@ struct ToEntities
{
std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject> operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityDistributionEntry& entry) const
{
- return entry.GetScenarioObjectTemplate()->GetEntityObject();
+ return entry.GetScenarioObjectTemplate()->GetEntitiyObject(); // https://github.com/RA-Consulting-GmbH/openscenario.api.test/issues/222
}
std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>> operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry& entry) const
@@ -33,7 +33,7 @@ struct ToTrafficDistribution
TrafficDistribution operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry& entry) const
{
return {TransformSharedPointers(entry.GetEntityDistribution()->GetEntityDistributionEntry(), [](const NET_ASAM_OPENSCENARIO::v1_3::IEntityDistributionEntry& entry)
- { return entry.GetScenarioObjectTemplate()->GetEntityObject(); }),
+ { return entry.GetScenarioObjectTemplate()->GetEntitiyObject(); }), // https://github.com/RA-Consulting-GmbH/openscenario.api.test/issues/222
entry.GetWeight()};
}
};
diff --git a/engine/src/Utils/Spawning/SpawnSpace.cpp b/engine/src/Utils/Spawning/SpawnSpace.cpp
index 7bf14331..a1090f7b 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.cpp
+++ b/engine/src/Utils/Spawning/SpawnSpace.cpp
@@ -1,5 +1,5 @@
/********************************************************************************
- * Copyright (c) 2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * Copyright (c) 2024-2025 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
@@ -48,6 +48,20 @@ SpawnSpace::SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &dis
}
}
+Entity SpawnSpace::SampleEntity(StochasticsInterface &rng) const
+{
+ const units::length::meter_t max_length{GetMaxIntervalLength()};
+ const auto entity_end{FindSpawnableEntityEnd(max_length)};
+ if (entity_end == entities.begin())
+ {
+ return nullptr;
+ }
+ assert(weights.size() == entities.size() + 1);
+ const units::dimensionless::scalar_t max_weight{weights[static_cast<size_t>(std::distance(entities.begin(), entity_end))]};
+ const units::dimensionless::scalar_t sampled_weight{rng.GetUniformDistributed(.0, max_weight.value())};
+ return Sample(entities, weights, sampled_weight).handle;
+}
+
units::length::meter_t SpawnSpace::GetMaxIntervalLength() const
{
return GetLength(*spots.rbegin());
@@ -83,7 +97,7 @@ std::set<SpawnSpot, Less<ToLength>>::const_iterator SpawnSpace::SampleSpot(units
}
if (candidates.size() <= 1)
{
- return candidates.empty() ? spots.end() : candidiates.begin();
+ return candidates.empty() ? spots.end() : *candidates.begin();
}
ToAccumulatedLength accumulator;
std::vector<units::length::meter_t> lengths{Transform(candidates,
diff --git a/engine/src/Utils/Spawning/SpawnSpace.h b/engine/src/Utils/Spawning/SpawnSpace.h
index 8b257a53..2b07296f 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.h
+++ b/engine/src/Utils/Spawning/SpawnSpace.h
@@ -75,19 +75,6 @@ struct SpawnSpace
namespace OpenScenarioEngine::v1_3
{
-Entity SpawnSpace::SampleEntity(StochasticsInterface &rng) const
-{
- const units::length::meter_t max_length{GetMaxIntervalLength()};
- const auto entity_end{FindSpawnableEntityEnd(max_length)};
- if (entity_end == entities.begin())
- {
- return nullptr;
- }
- assert(weights.size() == entities.size() + 1);
- const units::dimensionless::scalar_t max_weight{weights[static_cast<size_t>(std::distance(entities.begin(), entity_end))]};
- const units::dimensionless::scalar_t sampled_weight{rng.GetUniformDistributed(.0, max_weight.value())};
- return Sample(entities, weights, sampled_weight).handle;
-}
template <typename EntityCreator>
bool SpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &rng)
diff --git a/engine/src/Utils/Spawning/VelocityRange.cpp b/engine/src/Utils/Spawning/VelocityRange.cpp
index ba65e1a1..a1326dac 100644
--- a/engine/src/Utils/Spawning/VelocityRange.cpp
+++ b/engine/src/Utils/Spawning/VelocityRange.cpp
@@ -49,6 +49,6 @@ VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3
{
throw std::range_error("ToSpawnVelocityRange: 'MaxVelocity' not found in properties");
}
- return {units::length::meter_t{std::stod((*min_match)->GetValue())}, units::length::meter_t{std::stod((*max_match)->GetValue())}};
+ return {units::velocity::meters_per_second_t{std::stod((*min_match)->GetValue())}, units::velocity::meters_per_second_t{std::stod((*max_match)->GetValue())}};
}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Weight.h b/engine/src/Utils/Spawning/Weight.h
index 944cb6c2..b068658b 100644
--- a/engine/src/Utils/Spawning/Weight.h
+++ b/engine/src/Utils/Spawning/Weight.h
@@ -17,6 +17,8 @@
namespace OpenScenarioEngine::v1_3
{
+struct WeightedEntity;
+
struct ToWeight
{
constexpr units::dimensionless::scalar_t operator()(units::dimensionless::scalar_t) const;
@@ -72,7 +74,7 @@ units::dimensionless::scalar_t GetWeight(Input&& input)
units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate& object) const
{
- return ToWeight{}(object.GetEntityObject());
+ return ToWeight{}(object.GetEntitiyObject()); // https://github.com/RA-Consulting-GmbH/openscenario.api.test/issues/222
}
units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry& entry) const
--
GitLab
From e920427eb1d1a1370820d2b58540a836ef521c36 Mon Sep 17 00:00:00 2001
From: Naida Goro <naida.goro@in-tech.com>
Date: Fri, 31 Jan 2025 05:53:05 +0000
Subject: [PATCH 10/26] Add TrafficAreaActionTest
---
engine/CMakeLists.txt | 1 +
.../GenericAction/TrafficAreaActionTest.cpp | 53 ++++++++
.../scenario_with_traffic_area_action.xosc | 118 ++++++++++++++++++
3 files changed, 172 insertions(+)
create mode 100644 engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
create mode 100644 engine/tests/data/Scenarios/scenario_with_traffic_area_action.xosc
diff --git a/engine/CMakeLists.txt b/engine/CMakeLists.txt
index d81c00c2..2b61c49a 100644
--- a/engine/CMakeLists.txt
+++ b/engine/CMakeLists.txt
@@ -207,6 +207,7 @@ target_sources(
${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/GenericAction/EnvironmentActionTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/GenericAction/LightStateActionTests.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/GenericAction/TeleportActionTest.cpp
+ ${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/GenericAction/TrafficSignalStateActionTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/GenericAction/TrafficSinkActionTest.cpp
${CMAKE_CURRENT_LIST_DIR}/tests/Storyboard/GenericAction/TrafficSwarmActionTest.cpp
diff --git a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
new file mode 100644
index 00000000..33317b2c
--- /dev/null
+++ b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
@@ -0,0 +1,53 @@
+/********************************************************************************
+ * 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/Test/test_utils.h>
+#include <gtest/gtest.h>
+
+#include "OpenScenarioEngine/OpenScenarioEngine.h"
+#include "TestUtils.h"
+#include "TestUtils/TestLogger.h"
+
+using testing::_;
+using testing::Return;
+using testing::ReturnRef;
+using testing::HasSubstr;
+using testing::OpenScenarioEngine::v1_3::OpenScenarioEngineTestBase;
+using testing::OpenScenarioEngine::v1_3::GetScenariosPath;
+
+class TrafficAreaActionTestFixture : public OpenScenarioEngineTestBase
+{
+protected:
+ void SetUp() override
+ {
+ //LOGGER = std::make_unique<testing::OpenScenarioEngine::v1_3::TestLogger>();
+ //mock_environment_ = std::make_shared<mantle_api::MockEnvironment>();
+ auto& mockTrafficAreaService{dynamic_cast<mantle_api::MockTrafficAreaService&>(env_->GetTrafficAreaService())};
+ ON_CALL(mockTrafficAreaService, CreateTrafficArea(_)).WillByDefault([this]() -> std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>>
+ {
+ auto mock_traffic_area_stream{std::make_shared<mantle_api::MockTrafficAreaStream>()};
+ traffic_area_stream_vec_.emplace_back(std::move(mock_traffic_area_stream));
+ return traffic_area_stream_vec_; });
+ }
+
+ //std::shared_ptr<mantle_api::MockEnvironment> mock_environment_;
+ std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>> traffic_area_stream_vec_;
+ //std::unique_ptr<testing::OpenScenarioEngine::v1_3::TestLogger> LOGGER;
+};
+
+TEST_F(TrafficAreaActionTestFixture, GivenScenarioWithTrafficAreaAction_WhenInitScenario_Then)
+{
+ std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "scenario_with_traffic_area_action.xosc"};
+ OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
+ engine.Init();
+
+ //EXPECT_THAT(LOGGER->LastLogLevel(), mantle_api::LogLevel::kError);
+ //EXPECT_THAT(LOGGER->LastLogMessage(), HasSubstr("Method TrafficAreaAction::Step() not implemented yet (returning \"true\" by default)"));
+}
diff --git a/engine/tests/data/Scenarios/scenario_with_traffic_area_action.xosc b/engine/tests/data/Scenarios/scenario_with_traffic_area_action.xosc
new file mode 100644
index 00000000..caa81f9a
--- /dev/null
+++ b/engine/tests/data/Scenarios/scenario_with_traffic_area_action.xosc
@@ -0,0 +1,118 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO>
+ <FileHeader revMajor="1" revMinor="3" date="2024-12-06T10:00:00"
+ description="TrafficAreaAction Test" author="BMW AG" />
+ <CatalogLocations>
+ <VehicleCatalog>
+ <Directory path="Vehicles" />
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles" />
+ </PedestrianCatalog>
+ </CatalogLocations>
+ <RoadNetwork>
+ <LogicFile filepath="SceneryConfiguration.xodr" />
+ <SceneGraphFile filepath="" />
+ </RoadNetwork>
+ <Entities>
+ <ScenarioObject name="Ego">
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper" />
+ <ObjectController>
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent" />
+ </Properties>
+ </Controller>
+ </ObjectController>
+ </ScenarioObject>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ <GlobalAction>
+ <TrafficAction>
+ <!--
+ https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TrafficAreaAction.html -->
+ <TrafficAreaAction continuous="false" numberOfEntities="100">
+ <TrafficDistribution>
+ <TrafficDistributionEntiry weight="1.0">
+ <EntityDistribution>
+ <EntityDistributionEntry weight="1.0">
+ <ScenarioObjectTemplate>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper" />
+ <ObjectController>
+ <Controller name="Common">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent" />
+ </Properties>
+ </Controller>
+ </ObjectController>
+ </ScenarioObjectTemplate>
+ </EntityDistributionEntry>
+ </EntityDistribution>
+ </TrafficDistributionEntiry>
+ </TrafficDistribution>
+ <TrafficArea>
+ <RoadRange>
+ <RoadCursor roadId="road00" s="100" />
+ <RoadCursor roadId="road00" s="500" />
+ </RoadRange>
+ </TrafficArea>
+ </TrafficAreaAction>
+ </TrafficAction>
+ </GlobalAction>
+ <Private entityRef="Ego">
+ <PrivateAction>
+ <TeleportAction>
+ <Position>
+ <LanePosition roadId="1" laneId="-1" offset="0.0" s="0.0">
+ <Orientation type="relative" />
+ </LanePosition>
+ </Position>
+ </TeleportAction>
+ </PrivateAction>
+ <PrivateAction>
+ <LongitudinalAction>
+ <SpeedAction>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate" />
+ <SpeedActionTarget>
+ <AbsoluteTargetSpeed value="43.5" />
+ </SpeedActionTarget>
+ </SpeedAction>
+ </LongitudinalAction>
+ </PrivateAction>
+ <PrivateAction>
+ <ControllerAction>
+ <ActivateControllerAction controllerRef="Ego" lateral="true" longitudinal="true" />
+ </ControllerAction>
+ </PrivateAction>
+ </Private>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1">
+ <Actors selectTriggeringEntities="false" />
+ </ManeuverGroup>
+ <StartTrigger>
+ <ConditionGroup>
+ <Condition name="StartTime" delay="0" conditionEdge="rising">
+ <ByValueCondition>
+ <SimulationTimeCondition value="0.0" rule="greaterOrEqual" />
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StartTrigger>
+ </Act>
+ </Story>
+ <StopTrigger>
+ <ConditionGroup>
+ <Condition name="EndTime" delay="0" conditionEdge="rising">
+ <ByValueCondition>
+ <SimulationTimeCondition value="30.0" rule="greaterThan" />
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StopTrigger>
+ </Storyboard>
+</OpenSCENARIO>
\ No newline at end of file
--
GitLab
From 626ae71c8b6531bc81c65d7458b706f18543e579 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Wed, 12 Feb 2025 16:25:45 +0100
Subject: [PATCH 11/26] Fix build errors
---
engine/cmake/generated_files.cmake | 1 +
engine/src/Utils/Spawning/Interval.h | 6 +-
engine/src/Utils/Spawning/SpawnSpace.h | 9 +--
engine/src/Utils/Spawning/Weight.cpp | 57 +++++++++++++++++++
engine/src/Utils/Spawning/Weight.h | 37 ------------
engine/src/Utils/Spawning/WeightedEntity.h | 26 +++++++++
.../GenericAction/TrafficAreaActionTest.cpp | 19 ++++---
7 files changed, 98 insertions(+), 57 deletions(-)
create mode 100644 engine/src/Utils/Spawning/Weight.cpp
create mode 100644 engine/src/Utils/Spawning/WeightedEntity.h
diff --git a/engine/cmake/generated_files.cmake b/engine/cmake/generated_files.cmake
index 5e4d2eb2..1c4c3ab5 100644
--- a/engine/cmake/generated_files.cmake
+++ b/engine/cmake/generated_files.cmake
@@ -238,6 +238,7 @@ list(APPEND ${PROJECT_NAME}_SOURCES
src/Utils/Spawning/SpawnSpace.cpp
src/Utils/Spawning/SpawnZone.cpp
src/Utils/Spawning/VelocityRange.cpp
+ src/Utils/Spawning/Weight.cpp
src/Utils/ConditionEdgeEvaluator.cpp
src/Utils/ControllerCreator.cpp
src/Utils/ControllerService.cpp
diff --git a/engine/src/Utils/Spawning/Interval.h b/engine/src/Utils/Spawning/Interval.h
index 1f16640c..f1378417 100644
--- a/engine/src/Utils/Spawning/Interval.h
+++ b/engine/src/Utils/Spawning/Interval.h
@@ -127,12 +127,12 @@ std::vector<Interval> GetFreeIntervals(const mantle_api::ITrafficAreaStream& str
auto entity{pointer.lock()};
const auto length{entity->GetProperties()->bounding_box.dimension.length};
const auto offset{entity->GetProperties()->bounding_box.geometric_center.x};
- auto [s, t]{stream.Convert(entity->GetPosition()).value()};
- if (const auto entityStartDistance{s + offset - length / units::dimensionless::scalar_t{2.0}}; entityStartDistance > min)
+ auto stream_pose{stream.Convert(mantle_api::Pose{entity->GetPosition(), entity->GetOrientation()}).value()};
+ if (const auto entityStartDistance{stream_pose.s + offset - length / units::dimensionless::scalar_t{2.0}}; entityStartDistance > min)
{
EmplaceInterval(result, {min, entityStartDistance}, filter);
}
- min = s + offset + length / units::dimensionless::scalar_t{2.0};
+ min = stream_pose.s + offset + length / units::dimensionless::scalar_t{2.0};
// TODO: This would loop endlessly if the object has a length of 0 and MIGHT loop endlessly if its offset lies outside of its bounds.
}
return result;
diff --git a/engine/src/Utils/Spawning/SpawnSpace.h b/engine/src/Utils/Spawning/SpawnSpace.h
index 2b07296f..9d1404d3 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.h
+++ b/engine/src/Utils/Spawning/SpawnSpace.h
@@ -25,17 +25,10 @@
#include "SpawnSpot.h"
#include "SpawnZone.h"
#include "VelocityRange.h"
+#include "WeightedEntity.h"
namespace OpenScenarioEngine::v1_3
{
-using Entity = typename std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>;
-
-struct WeightedEntity
-{
- Entity handle;
- units::dimensionless::scalar_t weight; // Product of the distribution's weight and the weight of this entity's handle
-};
-
/// A SpawnSpace is essentially a self-managing, depleting list of TrafficAreas and weighted entities optimized
/// for the use-case of spawning entities at the rear end of a TrafficArea (with offsets). It restructures the
/// data to be sorted by interval and entity length, allowing efficient filtering of remaining spawnable entities
diff --git a/engine/src/Utils/Spawning/Weight.cpp b/engine/src/Utils/Spawning/Weight.cpp
new file mode 100644
index 00000000..5d45041a
--- /dev/null
+++ b/engine/src/Utils/Spawning/Weight.cpp
@@ -0,0 +1,57 @@
+/********************************************************************************
+ * 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 "Weight.h"
+
+#include "WeightedEntity.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate& object) const
+{
+ return ToWeight{}(object.GetEntitiyObject()); // https://github.com/RA-Consulting-GmbH/openscenario.api.test/issues/222
+}
+
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry& entry) const
+{
+ return units::dimensionless::scalar_t{entry.GetWeight()};
+}
+
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject& object) const
+{
+ return object.GetVehicle() ? ToWeight{}(object.GetVehicle()) : ToWeight{}(object.GetPedestrian());
+}
+
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian& pedestrian) const
+{
+ return ToWeight{}(pedestrian.GetProperties());
+}
+
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle& vehicle) const
+{
+ return ToWeight{}(vehicle.GetProperties());
+}
+
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties& properties) const
+{
+ const auto& entries{properties.GetProperties()};
+ auto match{std::find_if(entries.begin(), entries.end(), [](const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IProperty>& entry)
+ { return entry->GetName() == "Weight"; })};
+ if (match != entries.end())
+ {
+ return units::dimensionless::scalar_t{std::stod((*match)->GetValue())};
+ }
+ throw std::runtime_error("ToWeight: 'Weight' not found in properties");
+}
+
+units::dimensionless::scalar_t ToWeight::operator()(const WeightedEntity& entity) const
+{
+ return ToWeight{}(entity.handle);
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Weight.h b/engine/src/Utils/Spawning/Weight.h
index b068658b..2e003f12 100644
--- a/engine/src/Utils/Spawning/Weight.h
+++ b/engine/src/Utils/Spawning/Weight.h
@@ -72,43 +72,6 @@ units::dimensionless::scalar_t GetWeight(Input&& input)
return ToWeight{}(std::forward<Input>(input));
}
-units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate& object) const
-{
- return ToWeight{}(object.GetEntitiyObject()); // https://github.com/RA-Consulting-GmbH/openscenario.api.test/issues/222
-}
-
-units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry& entry) const
-{
- return units::dimensionless::scalar_t{entry.GetWeight()};
-}
-
-units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject& object) const
-{
- return object.GetVehicle() ? ToWeight{}(object.GetVehicle()) : ToWeight{}(object.GetPedestrian());
-}
-
-units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian& pedestrian) const
-{
- return ToWeight{}(pedestrian.GetProperties());
-}
-
-units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle& vehicle) const
-{
- return ToWeight{}(vehicle.GetProperties());
-}
-
-units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties& properties) const
-{
- const auto& entries{properties.GetProperties()};
- auto match{std::find_if(entries.begin(), entries.end(), [](const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IProperty>& entry)
- { return entry->GetName() == "Weight"; })};
- if (match != entries.end())
- {
- return units::dimensionless::scalar_t{std::stod((*match)->GetValue())};
- }
- throw std::runtime_error("ToWeight: 'Weight' not found in properties");
-}
-
template <typename Entry>
units::dimensionless::scalar_t ToAccumulatedWeight::operator()(const Entry& entry)
{
diff --git a/engine/src/Utils/Spawning/WeightedEntity.h b/engine/src/Utils/Spawning/WeightedEntity.h
new file mode 100644
index 00000000..e17b8183
--- /dev/null
+++ b/engine/src/Utils/Spawning/WeightedEntity.h
@@ -0,0 +1,26 @@
+/********************************************************************************
+ * 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 <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
+#include <units.h>
+
+#include <memory>
+
+namespace OpenScenarioEngine::v1_3
+{
+using Entity = typename std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>;
+
+struct WeightedEntity
+{
+ Entity handle;
+ units::dimensionless::scalar_t weight; // Product of the distribution's weight and the weight of this entity's handle
+};
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
index 33317b2c..defa65af 100644
--- a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
+++ b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
@@ -16,19 +16,20 @@
#include "TestUtils/TestLogger.h"
using testing::_;
+using testing::HasSubstr;
using testing::Return;
using testing::ReturnRef;
-using testing::HasSubstr;
-using testing::OpenScenarioEngine::v1_3::OpenScenarioEngineTestBase;
using testing::OpenScenarioEngine::v1_3::GetScenariosPath;
+using testing::OpenScenarioEngine::v1_3::OpenScenarioEngineTestBase;
class TrafficAreaActionTestFixture : public OpenScenarioEngineTestBase
{
protected:
void SetUp() override
- {
- //LOGGER = std::make_unique<testing::OpenScenarioEngine::v1_3::TestLogger>();
- //mock_environment_ = std::make_shared<mantle_api::MockEnvironment>();
+ {
+ OpenScenarioEngineTestBase::SetUp();
+ // LOGGER = std::make_unique<testing::OpenScenarioEngine::v1_3::TestLogger>();
+ // mock_environment_ = std::make_shared<mantle_api::MockEnvironment>();
auto& mockTrafficAreaService{dynamic_cast<mantle_api::MockTrafficAreaService&>(env_->GetTrafficAreaService())};
ON_CALL(mockTrafficAreaService, CreateTrafficArea(_)).WillByDefault([this]() -> std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>>
{
@@ -37,9 +38,9 @@ protected:
return traffic_area_stream_vec_; });
}
- //std::shared_ptr<mantle_api::MockEnvironment> mock_environment_;
+ // std::shared_ptr<mantle_api::MockEnvironment> mock_environment_;
std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>> traffic_area_stream_vec_;
- //std::unique_ptr<testing::OpenScenarioEngine::v1_3::TestLogger> LOGGER;
+ // std::unique_ptr<testing::OpenScenarioEngine::v1_3::TestLogger> LOGGER;
};
TEST_F(TrafficAreaActionTestFixture, GivenScenarioWithTrafficAreaAction_WhenInitScenario_Then)
@@ -48,6 +49,6 @@ TEST_F(TrafficAreaActionTestFixture, GivenScenarioWithTrafficAreaAction_WhenInit
OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
engine.Init();
- //EXPECT_THAT(LOGGER->LastLogLevel(), mantle_api::LogLevel::kError);
- //EXPECT_THAT(LOGGER->LastLogMessage(), HasSubstr("Method TrafficAreaAction::Step() not implemented yet (returning \"true\" by default)"));
+ // EXPECT_THAT(LOGGER->LastLogLevel(), mantle_api::LogLevel::kError);
+ // EXPECT_THAT(LOGGER->LastLogMessage(), HasSubstr("Method TrafficAreaAction::Step() not implemented yet (returning \"true\" by default)"));
}
--
GitLab
From 57b90bbbbb2b5506936445982da85a0d006f967c Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Fri, 14 Feb 2025 15:56:33 +0100
Subject: [PATCH 12/26] Fix errors in TrafficAreaAction test configuration file
---
.../GenericAction/TrafficAreaActionTest.cpp | 4 +-
.../scenario_with_traffic_area_action.xosc | 117 ++++++++++++++++++
.../scenario_with_traffic_area_action.xosc | 11 +-
3 files changed, 124 insertions(+), 8 deletions(-)
create mode 100644 engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc
diff --git a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
index defa65af..59bfdd93 100644
--- a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
+++ b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
@@ -28,7 +28,7 @@ protected:
void SetUp() override
{
OpenScenarioEngineTestBase::SetUp();
- // LOGGER = std::make_unique<testing::OpenScenarioEngine::v1_3::TestLogger>();
+ LOGGER = std::make_unique<testing::OpenScenarioEngine::v1_3::TestLogger>();
// mock_environment_ = std::make_shared<mantle_api::MockEnvironment>();
auto& mockTrafficAreaService{dynamic_cast<mantle_api::MockTrafficAreaService&>(env_->GetTrafficAreaService())};
ON_CALL(mockTrafficAreaService, CreateTrafficArea(_)).WillByDefault([this]() -> std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>>
@@ -40,7 +40,7 @@ protected:
// std::shared_ptr<mantle_api::MockEnvironment> mock_environment_;
std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>> traffic_area_stream_vec_;
- // std::unique_ptr<testing::OpenScenarioEngine::v1_3::TestLogger> LOGGER;
+ std::shared_ptr<testing::OpenScenarioEngine::v1_3::TestLogger> LOGGER;
};
TEST_F(TrafficAreaActionTestFixture, GivenScenarioWithTrafficAreaAction_WhenInitScenario_Then)
diff --git a/engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc b/engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc
new file mode 100644
index 00000000..f83d832a
--- /dev/null
+++ b/engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc
@@ -0,0 +1,117 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO>
+ <FileHeader revMajor="1" revMinor="3" date="2024-12-06T10:00:00" description="TrafficAreaAction Test" author="BMW AG" />
+ <CatalogLocations>
+ <VehicleCatalog>
+ <Directory path="Vehicles" />
+ </VehicleCatalog>
+ <PedestrianCatalog>
+ <Directory path="Vehicles" />
+ </PedestrianCatalog>
+ </CatalogLocations>
+ <RoadNetwork>
+ <LogicFile filepath="SceneryConfiguration.xodr" />
+ <SceneGraphFile filepath="" />
+ </RoadNetwork>
+ <Entities>
+ <ScenarioObject name="Ego">
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper" />
+ <ObjectController name="Ego">
+ <Controller name="Ego">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent" />
+ </Properties>
+ </Controller>
+ </ObjectController>
+ </ScenarioObject>
+ </Entities>
+ <Storyboard>
+ <Init>
+ <Actions>
+ <GlobalAction>
+ <TrafficAction>
+ <!--
+ https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TrafficAreaAction.html -->
+ <TrafficAreaAction continuous="false" numberOfEntities="100">
+ <TrafficDistribution>
+ <TrafficDistributionEntry weight="1.0">
+ <EntityDistribution>
+ <EntityDistributionEntry weight="1.0">
+ <ScenarioObjectTemplate>
+ <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper" />
+ <ObjectController>
+ <Controller name="Common">
+ <Properties>
+ <Property name="AgentProfile" value="MiddleClassCarAgent" />
+ </Properties>
+ </Controller>
+ </ObjectController>
+ </ScenarioObjectTemplate>
+ </EntityDistributionEntry>
+ </EntityDistribution>
+ </TrafficDistributionEntry>
+ </TrafficDistribution>
+ <TrafficArea>
+ <RoadRange>
+ <RoadCursor roadId="road00" s="100" />
+ <RoadCursor roadId="road00" s="500" />
+ </RoadRange>
+ </TrafficArea>
+ </TrafficAreaAction>
+ </TrafficAction>
+ </GlobalAction>
+ <Private entityRef="Ego">
+ <PrivateAction>
+ <TeleportAction>
+ <Position>
+ <LanePosition roadId="1" laneId="-1" offset="0.0" s="0.0">
+ <Orientation type="relative" />
+ </LanePosition>
+ </Position>
+ </TeleportAction>
+ </PrivateAction>
+ <PrivateAction>
+ <LongitudinalAction>
+ <SpeedAction>
+ <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate" />
+ <SpeedActionTarget>
+ <AbsoluteTargetSpeed value="43.5" />
+ </SpeedActionTarget>
+ </SpeedAction>
+ </LongitudinalAction>
+ </PrivateAction>
+ <PrivateAction>
+ <ControllerAction>
+ <ActivateControllerAction objectControllerRef="Ego" lateral="true" longitudinal="true" />
+ </ControllerAction>
+ </PrivateAction>
+ </Private>
+ </Actions>
+ </Init>
+ <Story name="">
+ <Act name="">
+ <ManeuverGroup name="" maximumExecutionCount="1">
+ <Actors selectTriggeringEntities="false" />
+ </ManeuverGroup>
+ <StartTrigger>
+ <ConditionGroup>
+ <Condition name="StartTime" delay="0" conditionEdge="rising">
+ <ByValueCondition>
+ <SimulationTimeCondition value="0.0" rule="greaterOrEqual" />
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StartTrigger>
+ </Act>
+ </Story>
+ <StopTrigger>
+ <ConditionGroup>
+ <Condition name="EndTime" delay="0" conditionEdge="rising">
+ <ByValueCondition>
+ <SimulationTimeCondition value="30.0" rule="greaterThan" />
+ </ByValueCondition>
+ </Condition>
+ </ConditionGroup>
+ </StopTrigger>
+ </Storyboard>
+</OpenSCENARIO>
\ No newline at end of file
diff --git a/engine/tests/data/Scenarios/scenario_with_traffic_area_action.xosc b/engine/tests/data/Scenarios/scenario_with_traffic_area_action.xosc
index caa81f9a..f83d832a 100644
--- a/engine/tests/data/Scenarios/scenario_with_traffic_area_action.xosc
+++ b/engine/tests/data/Scenarios/scenario_with_traffic_area_action.xosc
@@ -1,7 +1,6 @@
<?xml version='1.0' encoding='UTF-8'?>
<OpenSCENARIO>
- <FileHeader revMajor="1" revMinor="3" date="2024-12-06T10:00:00"
- description="TrafficAreaAction Test" author="BMW AG" />
+ <FileHeader revMajor="1" revMinor="3" date="2024-12-06T10:00:00" description="TrafficAreaAction Test" author="BMW AG" />
<CatalogLocations>
<VehicleCatalog>
<Directory path="Vehicles" />
@@ -17,7 +16,7 @@
<Entities>
<ScenarioObject name="Ego">
<CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper" />
- <ObjectController>
+ <ObjectController name="Ego">
<Controller name="Ego">
<Properties>
<Property name="AgentProfile" value="MiddleClassCarAgent" />
@@ -35,7 +34,7 @@
https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TrafficAreaAction.html -->
<TrafficAreaAction continuous="false" numberOfEntities="100">
<TrafficDistribution>
- <TrafficDistributionEntiry weight="1.0">
+ <TrafficDistributionEntry weight="1.0">
<EntityDistribution>
<EntityDistributionEntry weight="1.0">
<ScenarioObjectTemplate>
@@ -50,7 +49,7 @@
</ScenarioObjectTemplate>
</EntityDistributionEntry>
</EntityDistribution>
- </TrafficDistributionEntiry>
+ </TrafficDistributionEntry>
</TrafficDistribution>
<TrafficArea>
<RoadRange>
@@ -83,7 +82,7 @@
</PrivateAction>
<PrivateAction>
<ControllerAction>
- <ActivateControllerAction controllerRef="Ego" lateral="true" longitudinal="true" />
+ <ActivateControllerAction objectControllerRef="Ego" lateral="true" longitudinal="true" />
</ControllerAction>
</PrivateAction>
</Private>
--
GitLab
From f4a32a34594a8629257eea15857a0533233c976a Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Tue, 4 Mar 2025 17:21:35 +0100
Subject: [PATCH 13/26] Advance TrafficAreaAction test
---
engine/CMakeLists.txt | 4 +-
.../ConvertScenarioTrafficArea.cpp | 6 +-
engine/src/Utils/Spawning/Weight.cpp | 19 ++++-
engine/src/Utils/Spawning/Weight.h | 2 +
.../GenericAction/TrafficAreaActionTest.cpp | 13 +++-
.../data/Scenarios/VehicleCatalog.xosc | 20 +++++
.../scenario_with_traffic_area_action.xosc | 78 ++-----------------
7 files changed, 64 insertions(+), 78 deletions(-)
create mode 100644 engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc
diff --git a/engine/CMakeLists.txt b/engine/CMakeLists.txt
index 2b61c49a..c54e100d 100644
--- a/engine/CMakeLists.txt
+++ b/engine/CMakeLists.txt
@@ -75,9 +75,9 @@ target_include_directories(
target_link_libraries(${PROJECT_NAME} PUBLIC antlr4_runtime::shared
MantleAPI::MantleAPI
openscenario_api::shared
+ Stochastics::Stochastics
units::units
- Yase::agnostic_behavior_tree
- PRIVATE Stochastics::Stochastics)
+ Yase::agnostic_behavior_tree)
if(USE_CCACHE)
find_program(CCACHE_FOUND ccache)
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp
index 6a22f0ef..1c13fcfd 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficArea.cpp
@@ -44,10 +44,10 @@ struct ToRoadRange
TrafficArea ConvertScenarioTrafficArea(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ITrafficArea>& trafficArea)
{
- if (trafficArea->GetPolygon() != nullptr)
+ if (!trafficArea->GetRoadRange().empty())
{
- throw std::runtime_error("ConvertScenarioTrafficArea: Conversion of polygon not yet supported");
+ return TransformSharedPointers(trafficArea->GetRoadRange(), ToRoadRange{});
}
- return TransformSharedPointers(trafficArea->GetRoadRange(), ToRoadRange{});
+ throw std::runtime_error("ConvertScenarioTrafficArea: Conversion of polygon not yet supported");
}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Weight.cpp b/engine/src/Utils/Spawning/Weight.cpp
index 5d45041a..fdb7e4ec 100644
--- a/engine/src/Utils/Spawning/Weight.cpp
+++ b/engine/src/Utils/Spawning/Weight.cpp
@@ -25,7 +25,19 @@ units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO:
units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject& object) const
{
- return object.GetVehicle() ? ToWeight{}(object.GetVehicle()) : ToWeight{}(object.GetPedestrian());
+ if (object.IsSetVehicle())
+ {
+ return ToWeight{}(object.GetVehicle());
+ }
+ else if (object.IsSetPedestrian())
+ {
+ return ToWeight{}(object.GetPedestrian());
+ }
+ else if (object.IsSetMiscObject())
+ {
+ return ToWeight{}(object.GetMiscObject());
+ }
+ throw std::runtime_error("ToWeight: Invalid entity. Is neither a vehicle, pedestrian nor a misc. object");
}
units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian& pedestrian) const
@@ -38,6 +50,11 @@ units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO:
return ToWeight{}(vehicle.GetProperties());
}
+units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IMiscObject& object) const
+{
+ return ToWeight{}(object.GetProperties());
+}
+
units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties& properties) const
{
const auto& entries{properties.GetProperties()};
diff --git a/engine/src/Utils/Spawning/Weight.h b/engine/src/Utils/Spawning/Weight.h
index 2e003f12..e5d83854 100644
--- a/engine/src/Utils/Spawning/Weight.h
+++ b/engine/src/Utils/Spawning/Weight.h
@@ -36,6 +36,8 @@ struct ToWeight
units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle&) const;
+ units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IMiscObject&) const;
+
units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties&) const;
units::dimensionless::scalar_t operator()(const WeightedEntity&) const;
diff --git a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
index 59bfdd93..3212d377 100644
--- a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
+++ b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
@@ -9,8 +9,11 @@
********************************************************************************/
#include <MantleAPI/Test/test_utils.h>
+#include <Storyboard/GenericAction/TrafficAreaAction.h>
#include <gtest/gtest.h>
+#include <string>
+
#include "OpenScenarioEngine/OpenScenarioEngine.h"
#include "TestUtils.h"
#include "TestUtils/TestLogger.h"
@@ -28,8 +31,9 @@ protected:
void SetUp() override
{
OpenScenarioEngineTestBase::SetUp();
+ ON_CALL(controller_, GetName()).WillByDefault(ReturnRef(controller_name));
+ ON_CALL(controller_, GetUniqueId()).WillByDefault(Return(1234));
LOGGER = std::make_unique<testing::OpenScenarioEngine::v1_3::TestLogger>();
- // mock_environment_ = std::make_shared<mantle_api::MockEnvironment>();
auto& mockTrafficAreaService{dynamic_cast<mantle_api::MockTrafficAreaService&>(env_->GetTrafficAreaService())};
ON_CALL(mockTrafficAreaService, CreateTrafficArea(_)).WillByDefault([this]() -> std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>>
{
@@ -38,9 +42,10 @@ protected:
return traffic_area_stream_vec_; });
}
- // std::shared_ptr<mantle_api::MockEnvironment> mock_environment_;
std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>> traffic_area_stream_vec_;
std::shared_ptr<testing::OpenScenarioEngine::v1_3::TestLogger> LOGGER;
+
+ std::string controller_name{"TestController"};
};
TEST_F(TrafficAreaActionTestFixture, GivenScenarioWithTrafficAreaAction_WhenInitScenario_Then)
@@ -48,6 +53,10 @@ TEST_F(TrafficAreaActionTestFixture, GivenScenarioWithTrafficAreaAction_WhenInit
std::string xosc_file_path{GetScenariosPath(test_info_->file()) + "scenario_with_traffic_area_action.xosc"};
OpenScenarioEngine::v1_3::OpenScenarioEngine engine(xosc_file_path, env_);
engine.Init();
+ engine.SetupDynamicContent();
+ engine.Step({});
+
+ // OpenScenarioEngine::v1_3::TrafficAreaAction action;
// EXPECT_THAT(LOGGER->LastLogLevel(), mantle_api::LogLevel::kError);
// EXPECT_THAT(LOGGER->LastLogMessage(), HasSubstr("Method TrafficAreaAction::Step() not implemented yet (returning \"true\" by default)"));
diff --git a/engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc b/engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc
new file mode 100644
index 00000000..c1510b1e
--- /dev/null
+++ b/engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="utf-8"?>
+<OpenSCENARIO>
+ <FileHeader revMajor="1" revMinor="1" date="2025-02-26T00:00:00" author="BMW AG" description="Vehicle catalog" />
+ <Catalog name="VehicleCatalog">
+ <Vehicle name="my_car" vehicleCategory="car" model3d="medium_car">
+ <BoundingBox>
+ <Center x="1.4" y="0.0" z="0.9" />
+ <Dimensions width="2.0" length="5.0" height="1.8" />
+ </BoundingBox>
+ <Performance maxSpeed="70" maxDeceleration="10" maxAcceleration="10" />
+ <Axles>
+ <FrontAxle maxSteering="0.5" wheelDiameter="0.8" trackWidth="1.68" positionX="2.98" positionZ="0.4" />
+ <RearAxle maxSteering="0" wheelDiameter="0.8" trackWidth="1.68" positionX="0" positionZ="0.4" />
+ </Axles>
+ <Properties>
+ <Property name="custom_property" value="5" />
+ </Properties>
+ </Vehicle>
+ </Catalog>
+</OpenSCENARIO>
diff --git a/engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc b/engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc
index f83d832a..ef8d43c5 100644
--- a/engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc
+++ b/engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc
@@ -1,21 +1,18 @@
<?xml version='1.0' encoding='UTF-8'?>
<OpenSCENARIO>
- <FileHeader revMajor="1" revMinor="3" date="2024-12-06T10:00:00" description="TrafficAreaAction Test" author="BMW AG" />
+ <FileHeader revMajor="1" revMinor="3" date="2025-02-26T00:00:00" description="TrafficAreaAction Test" author="BMW AG" />
<CatalogLocations>
<VehicleCatalog>
- <Directory path="Vehicles" />
+ <Directory path="." />
</VehicleCatalog>
- <PedestrianCatalog>
- <Directory path="Vehicles" />
- </PedestrianCatalog>
</CatalogLocations>
<RoadNetwork>
- <LogicFile filepath="SceneryConfiguration.xodr" />
+ <LogicFile filepath="RoadNetwork.xodr" />
<SceneGraphFile filepath="" />
</RoadNetwork>
<Entities>
<ScenarioObject name="Ego">
- <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper" />
+ <CatalogReference catalogName="VehicleCatalog" entryName="my_car" />
<ObjectController name="Ego">
<Controller name="Ego">
<Properties>
@@ -30,22 +27,14 @@
<Actions>
<GlobalAction>
<TrafficAction>
- <!--
- https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TrafficAreaAction.html -->
+ <!-- https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/TrafficAreaAction.html -->
<TrafficAreaAction continuous="false" numberOfEntities="100">
<TrafficDistribution>
<TrafficDistributionEntry weight="1.0">
<EntityDistribution>
<EntityDistributionEntry weight="1.0">
<ScenarioObjectTemplate>
- <CatalogReference catalogName="VehicleCatalog" entryName="car_mini_cooper" />
- <ObjectController>
- <Controller name="Common">
- <Properties>
- <Property name="AgentProfile" value="MiddleClassCarAgent" />
- </Properties>
- </Controller>
- </ObjectController>
+ <CatalogReference catalogName="VehicleCatalog" entryName="my_car" />
</ScenarioObjectTemplate>
</EntityDistributionEntry>
</EntityDistribution>
@@ -53,65 +42,14 @@
</TrafficDistribution>
<TrafficArea>
<RoadRange>
- <RoadCursor roadId="road00" s="100" />
- <RoadCursor roadId="road00" s="500" />
+ <RoadCursor roadId="DOES_NOT_EXIST" s="100" />
+ <RoadCursor roadId="DOES_NOT_EXIST" s="500" />
</RoadRange>
</TrafficArea>
</TrafficAreaAction>
</TrafficAction>
</GlobalAction>
- <Private entityRef="Ego">
- <PrivateAction>
- <TeleportAction>
- <Position>
- <LanePosition roadId="1" laneId="-1" offset="0.0" s="0.0">
- <Orientation type="relative" />
- </LanePosition>
- </Position>
- </TeleportAction>
- </PrivateAction>
- <PrivateAction>
- <LongitudinalAction>
- <SpeedAction>
- <SpeedActionDynamics dynamicsShape="step" value="0.0" dynamicsDimension="rate" />
- <SpeedActionTarget>
- <AbsoluteTargetSpeed value="43.5" />
- </SpeedActionTarget>
- </SpeedAction>
- </LongitudinalAction>
- </PrivateAction>
- <PrivateAction>
- <ControllerAction>
- <ActivateControllerAction objectControllerRef="Ego" lateral="true" longitudinal="true" />
- </ControllerAction>
- </PrivateAction>
- </Private>
</Actions>
</Init>
- <Story name="">
- <Act name="">
- <ManeuverGroup name="" maximumExecutionCount="1">
- <Actors selectTriggeringEntities="false" />
- </ManeuverGroup>
- <StartTrigger>
- <ConditionGroup>
- <Condition name="StartTime" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <SimulationTimeCondition value="0.0" rule="greaterOrEqual" />
- </ByValueCondition>
- </Condition>
- </ConditionGroup>
- </StartTrigger>
- </Act>
- </Story>
- <StopTrigger>
- <ConditionGroup>
- <Condition name="EndTime" delay="0" conditionEdge="rising">
- <ByValueCondition>
- <SimulationTimeCondition value="30.0" rule="greaterThan" />
- </ByValueCondition>
- </Condition>
- </ConditionGroup>
- </StopTrigger>
</Storyboard>
</OpenSCENARIO>
\ No newline at end of file
--
GitLab
From 537c4ad06b0de090c6eff92e7cde2da2cee677a2 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Tue, 4 Mar 2025 17:21:59 +0100
Subject: [PATCH 14/26] Hotfix parser for RoadRange
---
utils/ci/conan/recipe/openscenario_api/all/conanfile.py | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/utils/ci/conan/recipe/openscenario_api/all/conanfile.py b/utils/ci/conan/recipe/openscenario_api/all/conanfile.py
index dbe00a8f..4e4482b5 100644
--- a/utils/ci/conan/recipe/openscenario_api/all/conanfile.py
+++ b/utils/ci/conan/recipe/openscenario_api/all/conanfile.py
@@ -1,5 +1,5 @@
################################################################################
-# Copyright (c) 2023 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+# Copyright (c) 2023-2025 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
# 2024 Volkswagen AG
#
# This program and the accompanying materials are made available under the
@@ -15,7 +15,7 @@
import os
from conan import ConanFile
-from conan.tools.files import copy, export_conandata_patches, apply_conandata_patches
+from conan.tools.files import apply_conandata_patches, copy, export_conandata_patches, replace_in_file
from conan.tools.scm import Git
required_conan_version = ">=1.53.0"
@@ -55,6 +55,10 @@ class OpenScenarioApiConan(ConanFile):
self._repo_source = os.path.join(self.source_folder, self.name)
self._artifact_path = os.path.join(self._repo_source, "cpp", "buildArtifact")
apply_conandata_patches(self)
+ replace_in_file(self,
+ os.path.join(self._repo_source, "cpp/openScenarioLib/src/parser/modelgroup/XmlChoiceParser.cpp"),
+ "if (currentOccurs < parser->GetMaxOccur())",
+ "if (currentOccurs < parser->GetMaxOccur() || parser->GetMaxOccur() == -1)")
def build(self):
--
GitLab
From dda49c1ebfd7262bcf4dc46249b9703afb80c3a4 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Wed, 5 Mar 2025 13:55:15 +0100
Subject: [PATCH 15/26] Fix issues in TrafficAreaAction implementation
---
engine/src/Utils/Spawning/Common.h | 15 +++--------
engine/src/Utils/Spawning/SpawnSpace.cpp | 27 +++++++++++--------
engine/src/Utils/Spawning/VelocityRange.cpp | 19 ++++++++++++-
engine/src/Utils/Spawning/VelocityRange.h | 2 +-
engine/src/Utils/Spawning/Weight.cpp | 2 +-
.../GenericAction/TrafficAreaActionTest.cpp | 5 ----
.../scenario_with_traffic_area_action.xosc | 2 +-
7 files changed, 41 insertions(+), 31 deletions(-)
diff --git a/engine/src/Utils/Spawning/Common.h b/engine/src/Utils/Spawning/Common.h
index eff3b449..4814e145 100644
--- a/engine/src/Utils/Spawning/Common.h
+++ b/engine/src/Utils/Spawning/Common.h
@@ -76,17 +76,10 @@ constexpr decltype(auto) BinaryOperation<Operation, Transformer>::operator()(A&&
template <typename Elements, typename Thresholds>
typename Elements::const_reference Sample(const Elements& elements, const Thresholds& thresholds, typename Thresholds::const_reference value)
{
- assert(elements.size() == thresholds.size());
- const auto threshold{std::upper_bound(std::next(thresholds.begin()), thresholds.end(), value)};
- const size_t index{static_cast<size_t>(std::distance(thresholds.begin(), threshold) - 1)};
+ assert(elements.size() <= thresholds.size());
+ const size_t index_offset{thresholds.size() - elements.size()};
+ const auto threshold{std::upper_bound(std::next(thresholds.begin(), index_offset), thresholds.end(), value)};
+ const size_t index{static_cast<size_t>(std::distance(thresholds.begin(), threshold) - index_offset)};
return elements[index];
}
-// template <typename Type>
-// std::pair<Type, size_t> Sample(const std::vector<Type>& range)
-// {
-// const units::length::meter_t sample{range.back()}; // TODO: Use Stochastics
-// const auto upperBound{std::upper_bound(range.begin(), std::prev(range.end()), sample)};
-// const auto index{static_cast<size_t>(std::distance(range.begin(), upperBound))};
-// return {sample, index};
-// }
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnSpace.cpp b/engine/src/Utils/Spawning/SpawnSpace.cpp
index a1090f7b..35640587 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.cpp
+++ b/engine/src/Utils/Spawning/SpawnSpace.cpp
@@ -20,6 +20,7 @@
namespace OpenScenarioEngine::v1_3
{
SpawnSpace::SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &distributions, std::vector<SpawnZones> &zones)
+ : weights{{}}
{
// Add entities
{
@@ -29,20 +30,23 @@ SpawnSpace::SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &dis
for (auto &distribution : distributions)
{
std::transform(distribution.begin(), distribution.end(), std::back_inserter(entities), //
- [multiplier = distribution.weight](const Entity &entity) -> WeightedEntity
- { return {entity, GetWeight(entity) * multiplier}; });
+ [weight = distribution.weight](const Entity &entity) -> WeightedEntity
+ { return {entity, weight}; });
}
std::sort(entities.begin(), entities.end(), Less<ToLength>{});
- weights = Transform(entities, ToAccumulatedWeight{});
+ Transform(entities, weights, ToAccumulatedWeight{});
// Add intervals
for (const SpawnZones ®ions : zones)
{
for (const SpawnZone &zone : regions)
{
- for (auto obstacle{std::next(zone.obstacles.begin())}; obstacle != zone.obstacles.end(); ++obstacle)
+ if (zone.obstacles.size() > 1)
{
- spots.emplace(*std::prev(obstacle), *obstacle);
+ for (auto obstacle{std::next(zone.obstacles.begin())}; obstacle != zone.obstacles.end(); ++obstacle)
+ {
+ spots.emplace(*std::prev(obstacle), *obstacle);
+ }
}
}
}
@@ -52,9 +56,9 @@ Entity SpawnSpace::SampleEntity(StochasticsInterface &rng) const
{
const units::length::meter_t max_length{GetMaxIntervalLength()};
const auto entity_end{FindSpawnableEntityEnd(max_length)};
- if (entity_end == entities.begin())
+ if (std::distance(entities.begin(), entity_end) <= 1)
{
- return nullptr;
+ return entity_end == entities.begin() ? Entity{} : entities.front().handle;
}
assert(weights.size() == entities.size() + 1);
const units::dimensionless::scalar_t max_weight{weights[static_cast<size_t>(std::distance(entities.begin(), entity_end))]};
@@ -64,7 +68,7 @@ Entity SpawnSpace::SampleEntity(StochasticsInterface &rng) const
units::length::meter_t SpawnSpace::GetMaxIntervalLength() const
{
- return GetLength(*spots.rbegin());
+ return spots.empty() ? units::length::meter_t{} : GetLength(*spots.rbegin());
}
std::vector<WeightedEntity>::const_iterator SpawnSpace::FindSpawnableEntityEnd(units::length::meter_t upperBound) const
@@ -100,9 +104,10 @@ std::set<SpawnSpot, Less<ToLength>>::const_iterator SpawnSpace::SampleSpot(units
return candidates.empty() ? spots.end() : *candidates.begin();
}
ToAccumulatedLength accumulator;
- std::vector<units::length::meter_t> lengths{Transform(candidates,
- [&accumulator](const auto iterator)
- { return accumulator(*iterator); })};
+ std::vector<units::length::meter_t> lengths{{}};
+ Transform(candidates, lengths, [&accumulator](const auto iterator) { //
+ return accumulator(*iterator);
+ });
const units::length::meter_t sampledLength{rng.GetUniformDistributed(.0, lengths.back().value())};
return Sample(candidates, lengths, sampledLength);
}
diff --git a/engine/src/Utils/Spawning/VelocityRange.cpp b/engine/src/Utils/Spawning/VelocityRange.cpp
index a1326dac..d6bbd78c 100644
--- a/engine/src/Utils/Spawning/VelocityRange.cpp
+++ b/engine/src/Utils/Spawning/VelocityRange.cpp
@@ -17,7 +17,19 @@ namespace OpenScenarioEngine::v1_3
{
VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject &object) const
{
- return object.GetVehicle() ? (*this)(object.GetVehicle()) : (*this)(object.GetPedestrian());
+ if (object.IsSetVehicle())
+ {
+ return (*this)(object.GetVehicle());
+ }
+ else if (object.IsSetPedestrian())
+ {
+ return (*this)(object.GetPedestrian());
+ }
+ else if (object.IsSetMiscObject())
+ {
+ return (*this)(object.GetMiscObject());
+ }
+ throw std::runtime_error("ToSpawmVelocityRange: Invalid entity. Is neither a vehicle, pedestrian or misc. object");
}
VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle &vehicle) const
@@ -30,6 +42,11 @@ VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3
return (*this)(pedestrian.GetProperties());
}
+VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IMiscObject &object) const
+{
+ return (*this)(object.GetProperties());
+}
+
VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties &properties) const
{
const auto &entries{properties.GetProperties()};
diff --git a/engine/src/Utils/Spawning/VelocityRange.h b/engine/src/Utils/Spawning/VelocityRange.h
index e851efc0..180019f2 100644
--- a/engine/src/Utils/Spawning/VelocityRange.h
+++ b/engine/src/Utils/Spawning/VelocityRange.h
@@ -36,9 +36,9 @@ struct ToSpawnVelocityRange
VelocityRange operator()(const std::shared_ptr<Type> &) const;
VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject &) const;
- VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IMiscObject &) const;
VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle &) const;
VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian &) const;
+ VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IMiscObject &) const;
VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties &) const;
};
diff --git a/engine/src/Utils/Spawning/Weight.cpp b/engine/src/Utils/Spawning/Weight.cpp
index fdb7e4ec..96774fbc 100644
--- a/engine/src/Utils/Spawning/Weight.cpp
+++ b/engine/src/Utils/Spawning/Weight.cpp
@@ -69,6 +69,6 @@ units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO:
units::dimensionless::scalar_t ToWeight::operator()(const WeightedEntity& entity) const
{
- return ToWeight{}(entity.handle);
+ return entity.weight;
}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
index 3212d377..c9a2de01 100644
--- a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
+++ b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
@@ -55,9 +55,4 @@ TEST_F(TrafficAreaActionTestFixture, GivenScenarioWithTrafficAreaAction_WhenInit
engine.Init();
engine.SetupDynamicContent();
engine.Step({});
-
- // OpenScenarioEngine::v1_3::TrafficAreaAction action;
-
- // EXPECT_THAT(LOGGER->LastLogLevel(), mantle_api::LogLevel::kError);
- // EXPECT_THAT(LOGGER->LastLogMessage(), HasSubstr("Method TrafficAreaAction::Step() not implemented yet (returning \"true\" by default)"));
}
diff --git a/engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc b/engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc
index ef8d43c5..191987e1 100644
--- a/engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc
+++ b/engine/tests/Storyboard/GenericAction/data/Scenarios/scenario_with_traffic_area_action.xosc
@@ -13,7 +13,7 @@
<Entities>
<ScenarioObject name="Ego">
<CatalogReference catalogName="VehicleCatalog" entryName="my_car" />
- <ObjectController name="Ego">
+ <ObjectController>
<Controller name="Ego">
<Properties>
<Property name="AgentProfile" value="MiddleClassCarAgent" />
--
GitLab
From 0250f04e90edbc4934234d85e71bfed4fa0a422b Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Wed, 5 Mar 2025 15:04:42 +0100
Subject: [PATCH 16/26] Support catalog references in TrafficAreaAction
---
engine/src/Utils/Spawning/Length.cpp | 53 +++++++++++++++++--
engine/src/Utils/Spawning/Length.h | 8 +++
engine/src/Utils/Spawning/VelocityRange.cpp | 36 ++++++++++---
engine/src/Utils/Spawning/VelocityRange.h | 1 +
.../data/Scenarios/VehicleCatalog.xosc | 2 +
5 files changed, 89 insertions(+), 11 deletions(-)
diff --git a/engine/src/Utils/Spawning/Length.cpp b/engine/src/Utils/Spawning/Length.cpp
index 8643a25f..03706dd3 100644
--- a/engine/src/Utils/Spawning/Length.cpp
+++ b/engine/src/Utils/Spawning/Length.cpp
@@ -10,6 +10,8 @@
#include "Length.h"
+#include <openScenarioLib/generated/v1_3/catalog/CatalogHelperV1_3.h>
+
#include <cassert>
#include <numeric>
@@ -52,16 +54,57 @@ units::length::meter_t ToLength::operator()(const SpawnZones& zones) const
return std::transform_reduce(zones.begin(), zones.end(), units::length::meter_t{}, std::plus<>{}, *this);
}
+units::length::meter_t ToLength::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IBoundingBox& bounding_box) const
+{
+ return units::length::meter_t{bounding_box.GetDimensions()->GetLength()};
+}
+
+units::length::meter_t ToLength::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle& vehicle) const
+{
+ return (*this)(vehicle.GetBoundingBox());
+}
+
+units::length::meter_t ToLength::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian& pedestrian) const
+{
+ return (*this)(pedestrian.GetBoundingBox());
+}
+
+units::length::meter_t ToLength::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IMiscObject& misc_object) const
+{
+ return (*this)(misc_object.GetBoundingBox());
+}
+
units::length::meter_t ToLength::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject& object) const
{
- if (decltype(auto) vehicle{object.GetVehicle()}; vehicle != nullptr)
+ if (object.IsSetCatalogReference())
+ {
+ const auto& catalog_reference{object.GetCatalogReference()->GetRef()};
+ auto& element{const_cast<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogElement>&>(catalog_reference)};
+ if (NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsVehicle(element))
+ {
+ return (*this)(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsVehicle(element));
+ }
+ if (NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsPedestrian(element))
+ {
+ return (*this)(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsPedestrian(element));
+ }
+ if (NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsMiscObject(element))
+ {
+ return (*this)(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsMiscObject(element));
+ }
+ }
+ if (object.IsSetVehicle())
+ {
+ return (*this)(object.GetVehicle());
+ }
+ if (object.IsSetPedestrian())
{
- return units::length::meter_t{vehicle->GetBoundingBox()->GetDimensions()->GetLength()};
+ return (*this)(object.GetPedestrian());
}
- if (decltype(auto) pedestrian{object.GetPedestrian()}; pedestrian != nullptr)
+ if (object.IsSetMiscObject())
{
- return units::length::meter_t{pedestrian->GetBoundingBox()->GetDimensions()->GetLength()};
+ return (*this)(object.GetMiscObject());
}
- return units::length::meter_t{std::numeric_limits<double>::quiet_NaN()};
+ throw std::runtime_error("ToLength: Entity is not a catalog reference, vehicle, pedestrian or misc. object.");
}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Length.h b/engine/src/Utils/Spawning/Length.h
index 7c81c36f..e5c9702d 100644
--- a/engine/src/Utils/Spawning/Length.h
+++ b/engine/src/Utils/Spawning/Length.h
@@ -44,6 +44,14 @@ struct ToLength
units::length::meter_t operator()(const mantle_api::EntityProperties&) const;
+ units::length::meter_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IBoundingBox&) const;
+
+ units::length::meter_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle&) const;
+
+ units::length::meter_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian&) const;
+
+ units::length::meter_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IMiscObject&) const;
+
template <typename Type>
units::length::meter_t operator()(const Type*) const;
diff --git a/engine/src/Utils/Spawning/VelocityRange.cpp b/engine/src/Utils/Spawning/VelocityRange.cpp
index d6bbd78c..d3f03f50 100644
--- a/engine/src/Utils/Spawning/VelocityRange.cpp
+++ b/engine/src/Utils/Spawning/VelocityRange.cpp
@@ -10,6 +10,8 @@
#include "VelocityRange.h"
+#include <openScenarioLib/generated/v1_3/catalog/CatalogHelperV1_3.h>
+
#include <exception>
#include <string>
@@ -17,21 +19,43 @@ namespace OpenScenarioEngine::v1_3
{
VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject &object) const
{
+ if (object.IsSetCatalogReference())
+ {
+ return (*this)(object.GetCatalogReference()->GetRef());
+ }
if (object.IsSetVehicle())
{
return (*this)(object.GetVehicle());
}
- else if (object.IsSetPedestrian())
+ if (object.IsSetPedestrian())
{
return (*this)(object.GetPedestrian());
}
- else if (object.IsSetMiscObject())
+ if (object.IsSetMiscObject())
{
return (*this)(object.GetMiscObject());
}
throw std::runtime_error("ToSpawmVelocityRange: Invalid entity. Is neither a vehicle, pedestrian or misc. object");
}
+VelocityRange ToSpawnVelocityRange::operator()(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogElement> &input) const
+{
+ auto &element{const_cast<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogElement> &>(input)};
+ if (NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsVehicle(element))
+ {
+ return (*this)(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsVehicle(element));
+ }
+ if (NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsPedestrian(element))
+ {
+ return (*this)(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsPedestrian(element));
+ }
+ if (NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsMiscObject(element))
+ {
+ return (*this)(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsMiscObject(element));
+ }
+ throw std::runtime_error("ToSpawnVelocityRange: Invalid catalog reference. Contains no vehicle, pedestrian or misc. object.");
+}
+
VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle &vehicle) const
{
return (*this)(vehicle.GetProperties());
@@ -53,18 +77,18 @@ VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3
const auto min_match{std::find_if(entries.begin(),
entries.end(),
[](const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IProperty> &entry)
- { return entry->GetName() == "MinVelocity"; })};
+ { return entry->GetName() == "min_spawn_velocity"; })};
if (min_match == entries.end())
{
- throw std::range_error("ToSpawnVelocityRange: 'MinVelocity' not found in properties");
+ throw std::range_error("ToSpawnVelocityRange: 'min_spawn_velocity' not found in properties");
}
const auto max_match{std::find_if(entries.begin(),
entries.end(),
[](const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IProperty> &entry)
- { return entry->GetName() == "MaxVelocity"; })};
+ { return entry->GetName() == "max_spawn_velocity"; })};
if (max_match == entries.end())
{
- throw std::range_error("ToSpawnVelocityRange: 'MaxVelocity' not found in properties");
+ throw std::range_error("ToSpawnVelocityRange: 'max_spawn_velocity' not found in properties");
}
return {units::velocity::meters_per_second_t{std::stod((*min_match)->GetValue())}, units::velocity::meters_per_second_t{std::stod((*max_match)->GetValue())}};
}
diff --git a/engine/src/Utils/Spawning/VelocityRange.h b/engine/src/Utils/Spawning/VelocityRange.h
index 180019f2..75d60e15 100644
--- a/engine/src/Utils/Spawning/VelocityRange.h
+++ b/engine/src/Utils/Spawning/VelocityRange.h
@@ -35,6 +35,7 @@ struct ToSpawnVelocityRange
template <typename Type>
VelocityRange operator()(const std::shared_ptr<Type> &) const;
+ VelocityRange operator()(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogElement> &) const;
VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject &) const;
VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle &) const;
VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian &) const;
diff --git a/engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc b/engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc
index c1510b1e..1314dc68 100644
--- a/engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc
+++ b/engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc
@@ -14,6 +14,8 @@
</Axles>
<Properties>
<Property name="custom_property" value="5" />
+ <Property name="min_spawn_velocity" value="20" />
+ <Property name="max_spawn_velocity" value="80" />
</Properties>
</Vehicle>
</Catalog>
--
GitLab
From bba1a777d04881a9038d6a7c965cbe3818b6e505 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Thu, 6 Mar 2025 15:14:43 +0100
Subject: [PATCH 17/26] Add SequentialSpawnSpace
---
.../GenericAction/TrafficAreaAction.cpp | 2 +-
engine/src/Utils/Spawning/Length.h | 1 +
engine/src/Utils/Spawning/SpawnSpace.cpp | 62 ++++++++++++++-----
engine/src/Utils/Spawning/SpawnSpace.h | 61 +++++++++++++++---
engine/src/Utils/Spawning/SpawnSpot.h | 4 +-
engine/src/Utils/Spawning/SpawnZone.cpp | 28 ++++++++-
engine/src/Utils/Spawning/SpawnZone.h | 39 ++----------
engine/src/Utils/Spawning/VelocityRange.cpp | 5 ++
engine/src/Utils/Spawning/VelocityRange.h | 14 ++---
.../GenericAction/TrafficAreaActionTest.cpp | 7 ++-
10 files changed, 150 insertions(+), 73 deletions(-)
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
index 5a1bfbf5..fe3abb5e 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
@@ -63,7 +63,7 @@ bool TrafficAreaAction::Step()
}
EntityCreator spawner{mantle.environment};
std::vector<SpawnZones> spawnZones{Transform(trafficAreas, ToSpawnZones{})};
- SpawnSpace spawnSpace{values.trafficDistributions, spawnZones};
+ SequentialSpawnSpace spawnSpace{values.trafficDistributions, spawnZones};
while (values.numberOfEntities)
{
if (!spawnSpace.Spawn(spawner, rng))
diff --git a/engine/src/Utils/Spawning/Length.h b/engine/src/Utils/Spawning/Length.h
index e5c9702d..20650dda 100644
--- a/engine/src/Utils/Spawning/Length.h
+++ b/engine/src/Utils/Spawning/Length.h
@@ -131,6 +131,7 @@ constexpr size_t ToSize::operator()(const std::vector<Type>& container) const
template <typename Type>
units::length::meter_t GetLength(const Type& item)
{
+ std::cout << "Length: " << ToLength{}(item) << '\n';
return ToLength{}(item);
}
diff --git a/engine/src/Utils/Spawning/SpawnSpace.cpp b/engine/src/Utils/Spawning/SpawnSpace.cpp
index 35640587..95ff4952 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.cpp
+++ b/engine/src/Utils/Spawning/SpawnSpace.cpp
@@ -35,24 +35,51 @@ SpawnSpace::SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &dis
}
std::sort(entities.begin(), entities.end(), Less<ToLength>{});
Transform(entities, weights, ToAccumulatedWeight{});
+}
- // Add intervals
+SequentialSpawnSpace::SequentialSpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &distributions, std::vector<SpawnZones> &zones)
+ : SpawnSpace{distributions, zones}
+{ // clang-format off
+ std::transform(zones.begin(), zones.end(), std::back_inserter(spots), [](const SpawnZones &zones) {
+ std::vector<SpawnSpot> spots;
+ for(const SpawnZone& zone : zones) {
+ auto next_spots{zone.GetSpawnSpots()};
+ spots.insert(spots.end(), std::make_move_iterator(next_spots.begin()), std::make_move_iterator(next_spots.end()));
+ }
+ return spots;
+ });
+ spots.erase(std::remove_if(spots.begin(), spots.end(), [](const auto& container) { return container.empty(); }), spots.end());
+ // clang-format on
+}
+
+Entity SequentialSpawnSpace::SampleEntity(StochasticsInterface &rng) const
+{
+ if (entities.size() <= 1)
+ {
+ return entities.empty() ? Entity{} : entities.front().handle;
+ }
+ assert(weights.size() == entities.size() + 1);
+ const units::dimensionless::scalar_t sampled_weight{rng.GetUniformDistributed(.0, weights.back().value())};
+ return Sample(entities, weights, sampled_weight).handle;
+}
+
+DistributedSpawnSpace::DistributedSpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &distributions, std::vector<SpawnZones> &zones)
+ : SpawnSpace{distributions, zones}
+{
for (const SpawnZones ®ions : zones)
{
for (const SpawnZone &zone : regions)
{
- if (zone.obstacles.size() > 1)
+ assert(zone.obstacles.size() > 1);
+ for (auto obstacle{std::next(zone.obstacles.begin())}; obstacle != zone.obstacles.end(); ++obstacle)
{
- for (auto obstacle{std::next(zone.obstacles.begin())}; obstacle != zone.obstacles.end(); ++obstacle)
- {
- spots.emplace(*std::prev(obstacle), *obstacle);
- }
+ spots.emplace(*std::prev(obstacle), *obstacle);
}
}
}
}
-Entity SpawnSpace::SampleEntity(StochasticsInterface &rng) const
+Entity DistributedSpawnSpace::SampleEntity(StochasticsInterface &rng) const
{
const units::length::meter_t max_length{GetMaxIntervalLength()};
const auto entity_end{FindSpawnableEntityEnd(max_length)};
@@ -66,23 +93,23 @@ Entity SpawnSpace::SampleEntity(StochasticsInterface &rng) const
return Sample(entities, weights, sampled_weight).handle;
}
-units::length::meter_t SpawnSpace::GetMaxIntervalLength() const
+units::length::meter_t DistributedSpawnSpace::GetMaxIntervalLength() const
{
return spots.empty() ? units::length::meter_t{} : GetLength(*spots.rbegin());
}
-std::vector<WeightedEntity>::const_iterator SpawnSpace::FindSpawnableEntityEnd(units::length::meter_t upperBound) const
+std::vector<WeightedEntity>::const_iterator DistributedSpawnSpace::FindSpawnableEntityEnd(units::length::meter_t threshold) const
{
- return std::upper_bound(entities.begin(), entities.end(), upperBound, [](units::length::meter_t upperBound, const WeightedEntity &entity)
- { return GetLength(entity) < upperBound; });
+ return std::upper_bound(entities.begin(), entities.end(), threshold, [](units::length::meter_t threshold, const WeightedEntity &entity)
+ { return threshold < GetLength(entity); });
}
-std::vector<WeightedEntity>::iterator SpawnSpace::FindSpawnableEntityEnd(units::length::meter_t upperBound)
+std::vector<WeightedEntity>::iterator DistributedSpawnSpace::FindSpawnableEntityEnd(units::length::meter_t threshold)
{
- return std::upper_bound(entities.begin(), entities.end(), upperBound, [](units::length::meter_t upperBound, const WeightedEntity &entity)
- { return GetLength(entity) < upperBound; });
+ return std::upper_bound(entities.begin(), entities.end(), threshold, [](units::length::meter_t threshold, const WeightedEntity &entity)
+ { return threshold < GetLength(entity); });
}
-std::set<SpawnSpot, Less<ToLength>>::const_iterator SpawnSpace::SampleSpot(units::length::meter_t minLength, VelocityRange velocity, StochasticsInterface &rng) const
+std::set<SpawnSpot, Less<ToLength>>::const_iterator DistributedSpawnSpace::SampleSpot(units::length::meter_t minLength, VelocityRange velocity, StochasticsInterface &rng) const
{
auto spot{spots.lower_bound(minLength)};
if (spot == spots.end())
@@ -93,8 +120,9 @@ std::set<SpawnSpot, Less<ToLength>>::const_iterator SpawnSpace::SampleSpot(units
for (; spot != spots.end(); ++spot)
{
const bool canKeepUp{spot->velocity.Contains(velocity)};
- const bool isEnoughRoomAfter2Seconds{GetLength(*spot) - spot->velocity.GetDifference() * units::time::second_t{2.0} > minLength};
- if (canKeepUp && isEnoughRoomAfter2Seconds)
+ const bool isEnoughRoomNow{GetLength(*spot) > minLength};
+ const bool isEnoughRoomAfter2Seconds{GetLength(*spot) + spot->velocity.GetDifference() * units::time::second_t{2.0} > minLength};
+ if (canKeepUp && isEnoughRoomNow && isEnoughRoomAfter2Seconds)
{
candidates.push_back(spot);
}
diff --git a/engine/src/Utils/Spawning/SpawnSpace.h b/engine/src/Utils/Spawning/SpawnSpace.h
index 9d1404d3..28593c85 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.h
+++ b/engine/src/Utils/Spawning/SpawnSpace.h
@@ -29,13 +29,46 @@
namespace OpenScenarioEngine::v1_3
{
-/// A SpawnSpace is essentially a self-managing, depleting list of TrafficAreas and weighted entities optimized
+struct SpawnSpace
+{
+ SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &, std::vector<SpawnZones> &);
+
+ std::vector<WeightedEntity> entities; // Entities sorted by ascending length
+ std::vector<units::dimensionless::scalar_t> weights; // Used to sample an entity
+};
+
+/// Space that spawns entities naively & greedily by design as defined here:
+/// https://eclipse.dev/openpass/content/html/user_guide/sim_user_guide/components/spawner.html#spawner
+/// The algorithm is greedy because it does not restrict what entities it samples from based on the available space. Instead, it
+/// samples a vehicle & velocity, then finds the first area it can be spawned in. If no such area exists, spawning is aborted. The
+/// algorithm is naive because no memoization of area sizes occurs, meaning all areas are tested anew when another entity is being spawned.
+struct SequentialSpawnSpace : SpawnSpace
+{
+ SequentialSpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &, std::vector<SpawnZones> &);
+
+ /// Samples and returns a random entity without considering the remaining space.
+ ///
+ /// \return Entity Random entity out of this space's entities. If it has none, a nullptr is returned.
+ Entity SampleEntity(StochasticsInterface &) const;
+
+ /// Tries to spawn an entity and returns whether spawning was successful.
+ /// If successful, also adjusts the spawn space's intervals.
+ ///
+ /// \tparam EntityCreator Provides CreateEntity(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IScenarioObject> &)
+ /// \param StochasticsInterface Used to sample the entity and its velocity
+ template <typename EntityCreator>
+ bool Spawn(EntityCreator &&, StochasticsInterface &);
+
+ std::vector<std::vector<SpawnSpot>> spots;
+};
+
+/// A DistributedSpawnSpace is essentially a self-managing, depleting list of TrafficAreas and weighted entities optimized
/// for the use-case of spawning entities at the rear end of a TrafficArea (with offsets). It restructures the
/// data to be sorted by interval and entity length, allowing efficient filtering of remaining spawnable entities
/// and intervals as the space is filled.
-struct SpawnSpace
+struct DistributedSpawnSpace : SpawnSpace
{
- SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &, std::vector<SpawnZones> &);
+ DistributedSpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &, std::vector<SpawnZones> &);
/// Returns the entity out of the set of entities in this space based on the given sample
///
@@ -59,18 +92,28 @@ struct SpawnSpace
std::vector<WeightedEntity>::iterator FindSpawnableEntityEnd(units::length::meter_t upper_bound);
std::set<SpawnSpot, Less<ToLength>> spots;
-
- std::vector<WeightedEntity> entities; // Entities sorted by ascending length
- std::vector<units::dimensionless::scalar_t> weights; // Used to sample an entity
};
} // namespace OpenScenarioEngine::v1_3
namespace OpenScenarioEngine::v1_3
{
+template <typename EntityCreator>
+bool SequentialSpawnSpace::Spawn(EntityCreator &&, StochasticsInterface &rng)
+{
+ Entity entity{SampleEntity(rng)};
+ if (entity == nullptr)
+ {
+ return false;
+ }
+ const auto velocity_range{GetSpawnVelocityRange(entity)};
+ auto spawn_velocity{SampleVelocity(velocity_range, rng)};
+ // TODO
+ return true;
+}
template <typename EntityCreator>
-bool SpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &rng)
+bool DistributedSpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &rng)
{
Entity entity{SampleEntity(rng)};
if (entity == nullptr)
@@ -84,10 +127,12 @@ bool SpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &rng)
return false;
}
+ // TODO: Sample Velocity
+ //
// TODO: Find last spawnable spot on the zone of the sampled interval
// spawner.CreateEntity(*entity, place.zone->GetPosition(distance));
// TODO: Remove/replace interval
- // interval->zone->RemoveInterval(*interval->interval, sampler(restricted_velocity.min, restricted_velocity.max));
+ // spot->zone->RemoveInterval(*interval->interval, sampler(restricted_velocity.min, restricted_velocity.max));
return true;
}
diff --git a/engine/src/Utils/Spawning/SpawnSpot.h b/engine/src/Utils/Spawning/SpawnSpot.h
index 84804855..b476ba56 100644
--- a/engine/src/Utils/Spawning/SpawnSpot.h
+++ b/engine/src/Utils/Spawning/SpawnSpot.h
@@ -21,7 +21,7 @@ namespace OpenScenarioEngine::v1_3
/// and a pointer to the spot's zone so that the SpawnSpace can look for the further spots within that zone.
struct SpawnSpot : Interval
{
- constexpr SpawnSpot(Interval &&, VelocityRange &&);
+ constexpr SpawnSpot(Interval, VelocityRange);
constexpr SpawnSpot(const Obstacle &before, const Obstacle &after);
@@ -31,7 +31,7 @@ struct SpawnSpot : Interval
namespace OpenScenarioEngine::v1_3
{
-constexpr SpawnSpot::SpawnSpot(Interval &&interval, VelocityRange &&velocity)
+constexpr SpawnSpot::SpawnSpot(Interval interval, VelocityRange velocity)
: Interval{std::move(interval)}, velocity{std::move(velocity)} {}
constexpr SpawnSpot::SpawnSpot(const Obstacle &before, const Obstacle &after)
diff --git a/engine/src/Utils/Spawning/SpawnZone.cpp b/engine/src/Utils/Spawning/SpawnZone.cpp
index d682f779..cba3f7b8 100644
--- a/engine/src/Utils/Spawning/SpawnZone.cpp
+++ b/engine/src/Utils/Spawning/SpawnZone.cpp
@@ -17,14 +17,33 @@
namespace OpenScenarioEngine::v1_3
{
-SpawnZone::SpawnZone(Interval&& interval, std::set<Obstacle, Less<ToMin>>&& obstacles)
- : Interval{std::move(interval)}, obstacles{std::move(obstacles)} {}
+SpawnZone::SpawnZone(Interval interval, std::set<Obstacle, Less<ToMin>> obstacles)
+ : Interval{std::move(interval)}, obstacles{std::move(obstacles)}
+{
+ this->obstacles.emplace_hint(this->obstacles.begin(), Obstacle::GetStartingSentinel(min));
+ this->obstacles.emplace_hint(this->obstacles.end(), Obstacle::GetEndingSentinel(max));
+}
SpawnZone::SpawnZone(const mantle_api::ITrafficAreaStream& stream)
: SpawnZone{Interval{{}, ToLength{}(stream)}, GetObstacles(stream)}
{
}
+std::vector<SpawnSpot> SpawnZone::GetSpawnSpots() const
+{
+ std::vector<SpawnSpot> result;
+ assert(obstacles.size() > 1);
+ for (auto obstacle_after{std::next(obstacles.begin())}; obstacle_after != obstacles.end(); ++obstacle_after)
+ {
+ const auto obstacle_before{std::prev(obstacle_after)};
+ if (obstacle_before->max < obstacle_after->min)
+ {
+ result.emplace_back(*obstacle_before, *obstacle_after);
+ }
+ }
+ return result;
+}
+
SpawnZones::SpawnZones(std::vector<SpawnZone> input)
: Iterable<std::vector<SpawnZone>>{std::move(input)}
{
@@ -49,4 +68,9 @@ SpawnZones ToSpawnZones::operator()(const mantle_api::TrafficArea& area) const
{
return {area};
}
+
+std::vector<SpawnSpot> ToSpawnSpots::operator()(const SpawnZone& zone) const
+{
+ return zone.GetSpawnSpots();
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnZone.h b/engine/src/Utils/Spawning/SpawnZone.h
index 4f8336f9..0ae88e46 100644
--- a/engine/src/Utils/Spawning/SpawnZone.h
+++ b/engine/src/Utils/Spawning/SpawnZone.h
@@ -28,15 +28,14 @@ namespace OpenScenarioEngine::v1_3
class SpawnZone : public Interval
{
public:
- SpawnZone(Interval&&, std::set<Obstacle, Less<ToMin>>&&);
+ SpawnZone(Interval, std::set<Obstacle, Less<ToMin>>);
SpawnZone(const mantle_api::ITrafficAreaStream&);
const Interval& GetLongestInterval() const;
Interval& GetLongestInterval();
- template <typename Predicate>
- std::optional<SpawnSpot> GetLastSpawnSpot(Predicate&&) const;
+ std::vector<SpawnSpot> GetSpawnSpots() const;
std::set<Obstacle, Less<ToMin>> obstacles;
};
@@ -59,35 +58,9 @@ struct ToSpawnZones
{
SpawnZones operator()(const mantle_api::TrafficArea&) const;
};
-} // namespace OpenScenarioEngine::v1_3
-namespace OpenScenarioEngine::v1_3
-{
-template <typename Predicate>
-std::optional<SpawnSpot> SpawnZone::GetLastSpawnSpot(Predicate&& pred) const
+struct ToSpawnSpots
{
- auto obstacle_before{std::find_if(obstacles.rbegin(),
- obstacles.rend(),
- [this](const Obstacle& obstacle)
- { return obstacle.min < max; })};
- if (obstacle_before == obstacles.rend())
- { // There are no obstacles
- return pred(*this) ? std::optional<SpawnSpot>{*this, {}} : std::nullopt;
- }
- auto obstacle_after{obstacle_before++};
- while (obstacle_before != obstacles.rend())
- {
- if (SpawnSpot candidate{*obstacle_before, *obstacle_after}; pred(candidate))
- { // Obstacle before and after the spawn spot
- return std::move(candidate);
- }
- ++obstacle_before;
- ++obstacle_after;
- }
- if (SpawnSpot candidate{Obstacle::GetStartingSentinel(min), *obstacle_after}; obstacle_after->min > min && pred(candidate))
- { // No obstacle before, but an obstacle after the spawn spot
- return std::move(candidate);
- }
- return std::nullopt;
-}
-} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
+ std::vector<SpawnSpot> operator()(const SpawnZone&) const;
+};
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/VelocityRange.cpp b/engine/src/Utils/Spawning/VelocityRange.cpp
index d3f03f50..0190e588 100644
--- a/engine/src/Utils/Spawning/VelocityRange.cpp
+++ b/engine/src/Utils/Spawning/VelocityRange.cpp
@@ -92,4 +92,9 @@ VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3
}
return {units::velocity::meters_per_second_t{std::stod((*min_match)->GetValue())}, units::velocity::meters_per_second_t{std::stod((*max_match)->GetValue())}};
}
+
+units::velocity::meters_per_second_t SampleVelocity(const VelocityRange &range, StochasticsInterface &rng)
+{
+ return units::velocity::meters_per_second_t{rng.GetUniformDistributed(range.min.value(), range.max.value())};
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/VelocityRange.h b/engine/src/Utils/Spawning/VelocityRange.h
index 75d60e15..348f7d8b 100644
--- a/engine/src/Utils/Spawning/VelocityRange.h
+++ b/engine/src/Utils/Spawning/VelocityRange.h
@@ -9,6 +9,7 @@
********************************************************************************/
#pragma once
+#include <Stochastics/StochasticsInterface.h>
#include <units.h>
#include <memory>
@@ -21,17 +22,16 @@ struct SpawnZone;
struct VelocityRange
{
- units::velocity::meters_per_second_t min{std::numeric_limits<double>::lowest()}, max{std::numeric_limits<double>::max()};
-
constexpr bool Contains(const VelocityRange &) const;
constexpr units::velocity::meters_per_second_t GetDifference() const;
+
+ units::velocity::meters_per_second_t min{std::numeric_limits<double>::lowest()};
+ units::velocity::meters_per_second_t max{std::numeric_limits<double>::max()};
};
struct ToSpawnVelocityRange
{
- constexpr VelocityRange operator()(VelocityRange) const;
-
template <typename Type>
VelocityRange operator()(const std::shared_ptr<Type> &) const;
@@ -46,6 +46,7 @@ struct ToSpawnVelocityRange
template <typename Input>
VelocityRange GetSpawnVelocityRange(Input &&);
+units::velocity::meters_per_second_t SampleVelocity(const VelocityRange &, StochasticsInterface &);
} // namespace OpenScenarioEngine::v1_3
namespace OpenScenarioEngine::v1_3
@@ -60,11 +61,6 @@ constexpr units::velocity::meters_per_second_t VelocityRange::GetDifference() co
return max - min;
}
-constexpr VelocityRange ToSpawnVelocityRange::operator()(VelocityRange input) const
-{
- return input;
-}
-
template <typename Type>
VelocityRange ToSpawnVelocityRange::operator()(const std::shared_ptr<Type> &input) const
{
diff --git a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
index c9a2de01..2c98045f 100644
--- a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
+++ b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
@@ -11,7 +11,9 @@
#include <MantleAPI/Test/test_utils.h>
#include <Storyboard/GenericAction/TrafficAreaAction.h>
#include <gtest/gtest.h>
+#include <units.h>
+#include <memory>
#include <string>
#include "OpenScenarioEngine/OpenScenarioEngine.h"
@@ -24,6 +26,7 @@ using testing::Return;
using testing::ReturnRef;
using testing::OpenScenarioEngine::v1_3::GetScenariosPath;
using testing::OpenScenarioEngine::v1_3::OpenScenarioEngineTestBase;
+using namespace units::literals;
class TrafficAreaActionTestFixture : public OpenScenarioEngineTestBase
{
@@ -35,15 +38,17 @@ protected:
ON_CALL(controller_, GetUniqueId()).WillByDefault(Return(1234));
LOGGER = std::make_unique<testing::OpenScenarioEngine::v1_3::TestLogger>();
auto& mockTrafficAreaService{dynamic_cast<mantle_api::MockTrafficAreaService&>(env_->GetTrafficAreaService())};
+
+ ON_CALL(*mock_traffic_area_stream, GetLength()).WillByDefault(Return(500_m));
ON_CALL(mockTrafficAreaService, CreateTrafficArea(_)).WillByDefault([this]() -> std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>>
{
- auto mock_traffic_area_stream{std::make_shared<mantle_api::MockTrafficAreaStream>()};
traffic_area_stream_vec_.emplace_back(std::move(mock_traffic_area_stream));
return traffic_area_stream_vec_; });
}
std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>> traffic_area_stream_vec_;
std::shared_ptr<testing::OpenScenarioEngine::v1_3::TestLogger> LOGGER;
+ std::shared_ptr<mantle_api::MockTrafficAreaStream> mock_traffic_area_stream{std::make_shared<mantle_api::MockTrafficAreaStream>()};
std::string controller_name{"TestController"};
};
--
GitLab
From 600cf83bab609e145750e1ec17f5e8ab5906330e Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Fri, 7 Mar 2025 10:48:33 +0100
Subject: [PATCH 18/26] Implement spawning logic
---
.../GenericAction/TrafficAreaAction.cpp | 3 +-
engine/src/Utils/Spawning/Interval.h | 76 ++++++++++++++++---
engine/src/Utils/Spawning/Length.h | 1 -
engine/src/Utils/Spawning/SpawnSpace.cpp | 67 ++++++++++++----
engine/src/Utils/Spawning/SpawnSpace.h | 57 +++++++++++---
engine/src/Utils/Spawning/SpawnZone.h | 4 +
engine/src/Utils/Spawning/Transform.h | 28 +++++--
engine/src/Utils/Spawning/VelocityRange.h | 21 +++++
.../GenericAction/TrafficAreaActionTest.cpp | 2 +
9 files changed, 214 insertions(+), 45 deletions(-)
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
index fe3abb5e..b3518912 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
@@ -62,8 +62,7 @@ bool TrafficAreaAction::Step()
}
}
EntityCreator spawner{mantle.environment};
- std::vector<SpawnZones> spawnZones{Transform(trafficAreas, ToSpawnZones{})};
- SequentialSpawnSpace spawnSpace{values.trafficDistributions, spawnZones};
+ SequentialSpawnSpace spawnSpace{trafficAreas, values.trafficDistributions};
while (values.numberOfEntities)
{
if (!spawnSpace.Spawn(spawner, rng))
diff --git a/engine/src/Utils/Spawning/Interval.h b/engine/src/Utils/Spawning/Interval.h
index f1378417..1beb8aed 100644
--- a/engine/src/Utils/Spawning/Interval.h
+++ b/engine/src/Utils/Spawning/Interval.h
@@ -20,6 +20,16 @@
namespace OpenScenarioEngine::v1_3
{
+struct Padding
+{
+ constexpr units::length::meter_t GetLength() const;
+
+ constexpr Padding operator-() const;
+
+ units::length::meter_t rear;
+ units::length::meter_t front;
+};
+
struct Interval
{
constexpr Interval(units::length::meter_t min, units::length::meter_t max)
@@ -30,11 +40,24 @@ struct Interval
/// \return Difference between min and max
constexpr units::length::meter_t GetLength() const;
- /// Moves the min and max of this interval by the given offsets
+ /// Returns an interval that matches this interval moved by the given offsets.
+ ///
+ /// \param Padding Rear and front padding to be added to this interval
+ /// \return Modified copy of this interval
+ constexpr Interval OffsetBy(Padding) const;
+
+ /// Returns an interval that matches this interval moved by the given offsets.
+ ///
+ /// \param Interval Min and max offset to be added to this interval's respective limits
+ /// \return Modified copy of this interval
+ constexpr Interval OffsetBy(Interval) const;
+
+ /// Returns an interval that matches this interval moved by the given offsets.
///
- /// \param frontOffset The amount to be added to min
- /// \param rearOffset The amount to be added to max
- constexpr void OffsetBy(units::length::meter_t frontOffset, units::length::meter_t rearOffset);
+ /// \param min_offset The amount to be added to min
+ /// \param max_offset The amount to be added to max
+ /// \return Modified copy of this interval
+ constexpr Interval OffsetBy(units::length::meter_t min_offset, units::length::meter_t max_offset) const;
/// Returns the resulting list of intervals if the given interval were cut out of this interval.
///
@@ -42,14 +65,21 @@ struct Interval
/// \return 0, 1 or 2 elements sorted by ascending (min/max) value.
std::vector<Interval> SplitBy(Interval) const;
+ /// Returns the interval representing the intersection of this interval and the given interval.
+ /// If the intervals do not intersect, the inverted negative space between the intervals is returned instead.
+ ///
+ /// \param other Other interval
+ /// \return The intersection interval of this and the given other interval
+ constexpr Interval GetIntersection(const Interval& other) const;
+
units::length::meter_t min, max;
};
struct OffsetBy
{
- constexpr void operator()(Interval&) const;
+ constexpr Interval operator()(const Interval&) const;
- units::length::meter_t frontOffset, rearOffset;
+ Padding offset;
};
void OffsetIntervals(std::vector<Interval>& intervals, units::length::meter_t frontOffset, units::length::meter_t rearOffset);
@@ -74,20 +104,44 @@ struct ToMax
namespace OpenScenarioEngine::v1_3
{
+constexpr units::length::meter_t Padding::GetLength() const
+{
+ return rear + front;
+}
+
+constexpr Padding Padding::operator-() const
+{
+ return {-rear, -front};
+}
+
constexpr units::length::meter_t Interval::GetLength() const
{
return max - min;
}
-constexpr void Interval::OffsetBy(units::length::meter_t frontOffset, units::length::meter_t rearOffset)
+constexpr Interval Interval::GetIntersection(const Interval& other) const
+{
+ return {std::max(min, other.min), std::min(max, other.max)};
+}
+
+constexpr Interval Interval::OffsetBy(Padding padding) const
+{
+ return OffsetBy(padding.rear, padding.front);
+}
+
+constexpr Interval Interval::OffsetBy(Interval other) const
+{
+ return OffsetBy(other.min, other.max);
+}
+
+constexpr Interval Interval::OffsetBy(units::length::meter_t min_offset, units::length::meter_t max_offset) const
{
- min += frontOffset;
- max += rearOffset;
+ return {min + min_offset, max + max_offset};
}
-constexpr void OffsetBy::operator()(Interval& interval) const
+constexpr Interval OffsetBy::operator()(const Interval& interval) const
{
- interval.OffsetBy(frontOffset, rearOffset);
+ return interval.OffsetBy(offset);
}
template <typename Filter = Return<true>>
diff --git a/engine/src/Utils/Spawning/Length.h b/engine/src/Utils/Spawning/Length.h
index 20650dda..e5c9702d 100644
--- a/engine/src/Utils/Spawning/Length.h
+++ b/engine/src/Utils/Spawning/Length.h
@@ -131,7 +131,6 @@ constexpr size_t ToSize::operator()(const std::vector<Type>& container) const
template <typename Type>
units::length::meter_t GetLength(const Type& item)
{
- std::cout << "Length: " << ToLength{}(item) << '\n';
return ToLength{}(item);
}
diff --git a/engine/src/Utils/Spawning/SpawnSpace.cpp b/engine/src/Utils/Spawning/SpawnSpace.cpp
index 95ff4952..98ee93e6 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.cpp
+++ b/engine/src/Utils/Spawning/SpawnSpace.cpp
@@ -19,7 +19,7 @@
namespace OpenScenarioEngine::v1_3
{
-SpawnSpace::SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &distributions, std::vector<SpawnZones> &zones)
+SpawnSpace::SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &distributions)
: weights{{}}
{
// Add entities
@@ -37,19 +37,14 @@ SpawnSpace::SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &dis
Transform(entities, weights, ToAccumulatedWeight{});
}
-SequentialSpawnSpace::SequentialSpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &distributions, std::vector<SpawnZones> &zones)
- : SpawnSpace{distributions, zones}
-{ // clang-format off
- std::transform(zones.begin(), zones.end(), std::back_inserter(spots), [](const SpawnZones &zones) {
- std::vector<SpawnSpot> spots;
- for(const SpawnZone& zone : zones) {
- auto next_spots{zone.GetSpawnSpots()};
- spots.insert(spots.end(), std::make_move_iterator(next_spots.begin()), std::make_move_iterator(next_spots.end()));
- }
- return spots;
- });
- spots.erase(std::remove_if(spots.begin(), spots.end(), [](const auto& container) { return container.empty(); }), spots.end());
- // clang-format on
+SequentialSpawnSpace::SequentialSpawnSpace(const std::vector<mantle_api::TrafficArea> &areas, const OpenScenarioEngine::v1_3::TrafficDistributions &distributions)
+ : SpawnSpace{distributions}, areas{areas}
+{
+ std::vector<SpawnZones> zones{Transform(areas, ToSpawnZones{})}; // clang-format off
+ Transform(zones, spots, [](const SpawnZones &zones) {
+ assert(!zones.empty());
+ return Transform(zones, ToSpawnSpots{});
+ }); // clang-format on
}
Entity SequentialSpawnSpace::SampleEntity(StochasticsInterface &rng) const
@@ -63,8 +58,44 @@ Entity SequentialSpawnSpace::SampleEntity(StochasticsInterface &rng) const
return Sample(entities, weights, sampled_weight).handle;
}
+std::tuple<std::vector<std::vector<std::vector<SpawnSpot>>>::iterator,
+ std::vector<std::vector<SpawnSpot>>::iterator,
+ std::vector<SpawnSpot>::iterator,
+ Interval>
+SequentialSpawnSpace::FindSpot(const Padding &padding, units::velocity::meters_per_second_t velocity, units::time::second_t timespan)
+{
+ assert(!spots.empty());
+ for (auto area{spots.begin()}; area != spots.end(); ++area)
+ {
+ for (auto stream{area->begin()}; stream != area->end(); ++stream)
+ {
+ for (auto spot{stream->rbegin()}; spot != stream->rend(); ++spot)
+ {
+ Interval range{spot->OffsetBy(-padding)};
+ if (range.min <= range.max)
+ {
+ range = range.GetIntersection(spot->OffsetBy(spot->velocity * timespan));
+ if (range.min <= range.max)
+ {
+ return {area, stream, std::next(spot).base(), std::move(range)};
+ }
+ }
+ }
+ }
+ }
+ return {
+ spots.end(),
+ spots.back().end(),
+ spots.back().back().end(),
+ Interval{
+ units::length::meter_t{std::numeric_limits<double>::quiet_NaN()},
+ units::length::meter_t{std::numeric_limits<double>::quiet_NaN()} //
+ } //
+ };
+}
+
DistributedSpawnSpace::DistributedSpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &distributions, std::vector<SpawnZones> &zones)
- : SpawnSpace{distributions, zones}
+ : SpawnSpace{distributions}
{
for (const SpawnZones ®ions : zones)
{
@@ -139,4 +170,10 @@ std::set<SpawnSpot, Less<ToLength>>::const_iterator DistributedSpawnSpace::Sampl
const units::length::meter_t sampledLength{rng.GetUniformDistributed(.0, lengths.back().value())};
return Sample(candidates, lengths, sampledLength);
}
+
+Padding GetLengthPadding(const Entity &entity)
+{ // TODO: Consider the center offset of the entity's bounds
+ const units::length::meter_t half_length{GetLength(entity) * units::dimensionless::scalar_t{.5}};
+ return {half_length, half_length};
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnSpace.h b/engine/src/Utils/Spawning/SpawnSpace.h
index 28593c85..5315c305 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.h
+++ b/engine/src/Utils/Spawning/SpawnSpace.h
@@ -31,7 +31,7 @@ namespace OpenScenarioEngine::v1_3
{
struct SpawnSpace
{
- SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &, std::vector<SpawnZones> &);
+ SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &);
std::vector<WeightedEntity> entities; // Entities sorted by ascending length
std::vector<units::dimensionless::scalar_t> weights; // Used to sample an entity
@@ -44,7 +44,7 @@ struct SpawnSpace
/// algorithm is naive because no memoization of area sizes occurs, meaning all areas are tested anew when another entity is being spawned.
struct SequentialSpawnSpace : SpawnSpace
{
- SequentialSpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &, std::vector<SpawnZones> &);
+ SequentialSpawnSpace(const std::vector<mantle_api::TrafficArea> &, const OpenScenarioEngine::v1_3::TrafficDistributions &);
/// Samples and returns a random entity without considering the remaining space.
///
@@ -59,7 +59,15 @@ struct SequentialSpawnSpace : SpawnSpace
template <typename EntityCreator>
bool Spawn(EntityCreator &&, StochasticsInterface &);
- std::vector<std::vector<SpawnSpot>> spots;
+ std::tuple<std::vector<std::vector<std::vector<SpawnSpot>>>::iterator,
+ std::vector<std::vector<SpawnSpot>>::iterator,
+ std::vector<SpawnSpot>::iterator,
+ Interval>
+ FindSpot(const Padding &, units::velocity::meters_per_second_t velocity, units::time::second_t timespan);
+
+ // Stream -> vector<SpawnSpot>, thus Area = vector<vector<SpawnSpot>>, thus vector<Area> = vector<vector<vector<SpawnSpot>>>
+ std::vector<std::vector<std::vector<SpawnSpot>>> spots;
+ const std::vector<mantle_api::TrafficArea> &areas;
};
/// A DistributedSpawnSpace is essentially a self-managing, depleting list of TrafficAreas and weighted entities optimized
@@ -94,13 +102,21 @@ struct DistributedSpawnSpace : SpawnSpace
std::set<SpawnSpot, Less<ToLength>> spots;
};
+/// Returns the positive distance from the entity's center to its rear and the positive distance from the entity's center to its front.
+Padding GetLengthPadding(const Entity &);
} // namespace OpenScenarioEngine::v1_3
namespace OpenScenarioEngine::v1_3
{
template <typename EntityCreator>
-bool SequentialSpawnSpace::Spawn(EntityCreator &&, StochasticsInterface &rng)
+bool SequentialSpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &rng)
{
+ using namespace units::literals;
+
+ if (spots.empty())
+ {
+ return false;
+ }
Entity entity{SampleEntity(rng)};
if (entity == nullptr)
{
@@ -108,8 +124,33 @@ bool SequentialSpawnSpace::Spawn(EntityCreator &&, StochasticsInterface &rng)
}
const auto velocity_range{GetSpawnVelocityRange(entity)};
auto spawn_velocity{SampleVelocity(velocity_range, rng)};
- // TODO
- return true;
+ const units::time::second_t minimum_time_to_collision{2_s};
+ const Padding padding{GetLengthPadding(entity)};
+ if (auto [spot_area, spot_stream, spot, interval]{FindSpot(padding, spawn_velocity, minimum_time_to_collision)}; spot_area != spots.end())
+ {
+ const auto area{std::next(areas.begin(), std::distance(spots.begin(), spot_area))};
+ const auto &stream{*std::next(area->begin(), std::distance(spot_area->begin(), spot_stream))};
+ const mantle_api::Pose pose{stream->Convert(mantle_api::ITrafficAreaStream::StreamPose{{interval.max, {}}, {}}).value()};
+
+ // TODO: Spawn entity
+
+ std::vector<OpenScenarioEngine::v1_3::Interval> new_intervals{spot->SplitBy(Interval{interval.max, interval.max}.OffsetBy(-padding.rear, padding.front))};
+ if (new_intervals.empty())
+ {
+ spot_stream->erase(spot);
+ }
+ else
+ {
+ std::vector<SpawnSpot> new_spots{Transform(std::move(new_intervals), [spot](Interval &&interval) -> SpawnSpot { //
+ return {interval, spot->velocity};
+ })};
+ new_spots.front().velocity.max = spawn_velocity;
+ new_spots.back().velocity.min = spawn_velocity;
+ spot_stream->insert(spot_stream->erase(spot), std::make_move_iterator(new_spots.begin()), std::make_move_iterator(new_spots.end()));
+ }
+ return true;
+ }
+ return false;
}
template <typename EntityCreator>
@@ -126,9 +167,7 @@ bool DistributedSpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface
{
return false;
}
-
- // TODO: Sample Velocity
- //
+ auto spawn_velocity{SampleVelocity(velocity_range, rng)};
// TODO: Find last spawnable spot on the zone of the sampled interval
// spawner.CreateEntity(*entity, place.zone->GetPosition(distance));
// TODO: Remove/replace interval
diff --git a/engine/src/Utils/Spawning/SpawnZone.h b/engine/src/Utils/Spawning/SpawnZone.h
index 0ae88e46..f82ebf82 100644
--- a/engine/src/Utils/Spawning/SpawnZone.h
+++ b/engine/src/Utils/Spawning/SpawnZone.h
@@ -25,6 +25,10 @@
namespace OpenScenarioEngine::v1_3
{
+/// \brief A SpawnZone is a representation of a mantle_api::ITrafficAreaStream with the assumption
+/// that said stream consists of connected lanes. It reduces the stream to its length and a full
+/// list of obstacles within it. The SpawnZone is used to generate SpawnSpots, which is a list of
+/// empty intervals where entities can be spawned.
class SpawnZone : public Interval
{
public:
diff --git a/engine/src/Utils/Spawning/Transform.h b/engine/src/Utils/Spawning/Transform.h
index 072c6733..975b4316 100644
--- a/engine/src/Utils/Spawning/Transform.h
+++ b/engine/src/Utils/Spawning/Transform.h
@@ -17,20 +17,34 @@
namespace OpenScenarioEngine::v1_3
{
-template <typename Invocable, typename Type>
-std::vector<std::invoke_result_t<Invocable, const Type&>> Transform(const std::vector<Type>& input, Invocable&& invocable)
+template <typename Invocable, typename Container>
+std::vector<std::invoke_result_t<Invocable, typename std::remove_reference_t<Container>::value_type>> Transform(Container&& input, Invocable&& invocable)
{
- std::vector<std::invoke_result_t<Invocable, const Type&>> result;
+ std::vector<std::invoke_result_t<Invocable, typename std::remove_reference_t<Container>::value_type>> result;
result.reserve(input.size());
- std::transform(input.begin(), input.end(), std::back_inserter(result), std::forward<Invocable>(invocable));
+ if constexpr (std::is_lvalue_reference_v<decltype(input)>)
+ {
+ std::transform(input.begin(), input.end(), std::back_inserter(result), std::forward<Invocable>(invocable));
+ }
+ else
+ {
+ std::transform(std::make_move_iterator(input.begin()), std::make_move_iterator(input.end()), std::back_inserter(result), std::forward<Invocable>(invocable));
+ }
return result;
}
-template <typename Invocable, typename Type>
-void Transform(const std::vector<Type>& input, std::vector<std::invoke_result_t<Invocable, const Type&>>& output, Invocable&& invocable)
+template <typename Invocable, typename Container>
+void Transform(Container&& input, std::vector<std::invoke_result_t<Invocable, typename std::remove_reference_t<Container>::value_type>>& output, Invocable&& invocable)
{
output.reserve(output.size() + input.size());
- std::transform(input.begin(), input.end(), std::back_inserter(output), std::forward<Invocable>(invocable));
+ if constexpr (std::is_lvalue_reference_v<decltype(input)>)
+ {
+ std::transform(input.begin(), input.end(), std::back_inserter(output), std::forward<Invocable>(invocable));
+ }
+ else
+ {
+ std::transform(std::make_move_iterator(input.begin()), std::make_move_iterator(input.end()), std::back_inserter(output), std::forward<Invocable>(invocable));
+ }
}
template <typename Type, typename Invocable>
diff --git a/engine/src/Utils/Spawning/VelocityRange.h b/engine/src/Utils/Spawning/VelocityRange.h
index 348f7d8b..a4a9eeb7 100644
--- a/engine/src/Utils/Spawning/VelocityRange.h
+++ b/engine/src/Utils/Spawning/VelocityRange.h
@@ -14,6 +14,7 @@
#include <memory>
+#include "Interval.h"
#include "openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h"
namespace OpenScenarioEngine::v1_3
@@ -24,12 +25,17 @@ struct VelocityRange
{
constexpr bool Contains(const VelocityRange &) const;
+ constexpr bool Contains(units::velocity::meters_per_second_t) const;
+
constexpr units::velocity::meters_per_second_t GetDifference() const;
units::velocity::meters_per_second_t min{std::numeric_limits<double>::lowest()};
units::velocity::meters_per_second_t max{std::numeric_limits<double>::max()};
};
+constexpr Interval operator*(const VelocityRange &, units::time::second_t);
+constexpr Interval operator*(units::time::second_t, const VelocityRange &);
+
struct ToSpawnVelocityRange
{
template <typename Type>
@@ -56,11 +62,26 @@ constexpr bool VelocityRange::Contains(const VelocityRange &other) const
return min <= other.min && other.max <= max;
}
+constexpr bool VelocityRange::Contains(units::velocity::meters_per_second_t velocity) const
+{
+ return min <= velocity && velocity <= max;
+}
+
constexpr units::velocity::meters_per_second_t VelocityRange::GetDifference() const
{
return max - min;
}
+constexpr Interval operator*(const VelocityRange &range, units::time::second_t time)
+{
+ return {range.min * time, range.max * time};
+}
+
+constexpr Interval operator*(units::time::second_t time, const VelocityRange &range)
+{
+ return range * time;
+}
+
template <typename Type>
VelocityRange ToSpawnVelocityRange::operator()(const std::shared_ptr<Type> &input) const
{
diff --git a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
index 2c98045f..d4fd0dad 100644
--- a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
+++ b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
@@ -15,6 +15,7 @@
#include <memory>
#include <string>
+#include <utility>
#include "OpenScenarioEngine/OpenScenarioEngine.h"
#include "TestUtils.h"
@@ -40,6 +41,7 @@ protected:
auto& mockTrafficAreaService{dynamic_cast<mantle_api::MockTrafficAreaService&>(env_->GetTrafficAreaService())};
ON_CALL(*mock_traffic_area_stream, GetLength()).WillByDefault(Return(500_m));
+ // ON_CALL(*mock_traffic_area_stream, Convert(_)).WillByDefault(Return(std::optional<mantle_api::Pose>{std::in_place, mantle_api::ITrafficAreaStream::StreamPosition{100_m, 0_m}, units::angle::radian_t{}}));
ON_CALL(mockTrafficAreaService, CreateTrafficArea(_)).WillByDefault([this]() -> std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>>
{
traffic_area_stream_vec_.emplace_back(std::move(mock_traffic_area_stream));
--
GitLab
From c28cda2958e622cd41bd9e9ea9de7138ab5576ae Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Tue, 11 Mar 2025 17:27:19 +0100
Subject: [PATCH 19/26] Expant mocking for TrafficAreaAction
---
.../ConvertScenarioTrafficDistribution.cpp | 4 +-
.../GenericAction/TrafficAreaAction.cpp | 1 +
engine/src/Utils/EntityCreator.cpp | 121 ++++++++++--------
engine/src/Utils/EntityCreator.h | 32 +++--
engine/src/Utils/Spawning/Interval.h | 2 +-
engine/src/Utils/Spawning/SpawnSpace.h | 4 +-
.../GenericAction/TrafficAreaActionTest.cpp | 65 ++++++++--
.../data/Scenarios/VehicleCatalog.xosc | 4 +-
8 files changed, 161 insertions(+), 72 deletions(-)
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
index bba5d9a4..1fd3d7a3 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
@@ -19,7 +19,7 @@ struct ToEntities
{
std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject> operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityDistributionEntry& entry) const
{
- return entry.GetScenarioObjectTemplate()->GetEntitiyObject(); // https://github.com/RA-Consulting-GmbH/openscenario.api.test/issues/222
+ return entry.GetScenarioObjectTemplate()->GetEntitiyObject(); // https://github.com/RA-Consulting-GmbH/openscenario.api.test/issues/222
}
std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>> operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry& entry) const
@@ -33,7 +33,7 @@ struct ToTrafficDistribution
TrafficDistribution operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry& entry) const
{
return {TransformSharedPointers(entry.GetEntityDistribution()->GetEntityDistributionEntry(), [](const NET_ASAM_OPENSCENARIO::v1_3::IEntityDistributionEntry& entry)
- { return entry.GetScenarioObjectTemplate()->GetEntitiyObject(); }), // https://github.com/RA-Consulting-GmbH/openscenario.api.test/issues/222
+ { return entry.GetScenarioObjectTemplate()->GetEntitiyObject(); }), // https://github.com/RA-Consulting-GmbH/openscenario.api.test/issues/222
entry.GetWeight()};
}
};
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
index b3518912..3c7d47a7 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
@@ -11,6 +11,7 @@
#include "Storyboard/GenericAction/TrafficAreaAction.h"
#include "Conversion/OscToMantle/ConvertScenarioTrafficArea.h"
+#include "Utils/ControllerCreator.h"
#include "Utils/EntityCreator.h"
#include "Utils/Logger.h"
#include "Utils/Spawning/Length.h"
diff --git a/engine/src/Utils/EntityCreator.cpp b/engine/src/Utils/EntityCreator.cpp
index 0042a031..0176c046 100644
--- a/engine/src/Utils/EntityCreator.cpp
+++ b/engine/src/Utils/EntityCreator.cpp
@@ -63,35 +63,41 @@ std::map<NET_ASAM_OPENSCENARIO::v1_3::MiscObjectCategory::MiscObjectCategoryEnum
EntityCreator::EntityCreator(std::shared_ptr<mantle_api::IEnvironment> environment)
: environment_(environment) {}
-void EntityCreator::CreateEntity(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IScenarioObject> scenario_object)
+mantle_api::IEntity& EntityCreator::CreateEntity(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>& entity_object, const std::string& name)
{
- auto entity_object = scenario_object->GetEntityObject();
-
- if (!entity_object)
+ if (entity_object->IsSetVehicle())
{
- throw std::runtime_error(std::string("entityObject missing in ScenarioObject " + scenario_object->GetName()));
+ return CreateVehicle(entity_object->GetVehicle(), name);
}
-
- if (entity_object->GetVehicle() != nullptr)
+ else if (entity_object->IsSetPedestrian())
{
- CreateVehicle(entity_object->GetVehicle(), scenario_object->GetName());
+ return CreatePedestrian(entity_object->GetPedestrian(), name);
}
- else if (entity_object->GetPedestrian() != nullptr)
+ else if (entity_object->IsSetMiscObject())
{
- CreatePedestrian(entity_object->GetPedestrian(), scenario_object->GetName());
+ return CreateMiscObject(entity_object->GetMiscObject(), name);
}
- else if (entity_object->GetMiscObject() != nullptr)
+ else if (entity_object->IsSetCatalogReference())
+ {
+ return CreateCatalogReferenceEntity(entity_object->GetCatalogReference(), name);
+ }
+ else
{
- CreateMiscObject(entity_object->GetMiscObject(), scenario_object->GetName());
+ throw std::runtime_error("EntityCreator::CreateEntity: Entity has no valid object type (neither vehicle, pedestrian, miscellaneous nor catalog reference)");
}
- else if (entity_object->GetCatalogReference() != nullptr)
+}
+
+mantle_api::IEntity& EntityCreator::CreateEntity(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IScenarioObject>& scenario_object)
+{
+ if (!scenario_object->IsSetEntityObject())
{
- CreateCatalogReferenceEntity(entity_object->GetCatalogReference(), scenario_object->GetName());
+ throw std::runtime_error("EntityObject missing in ScenarioObject " + scenario_object->GetName());
}
+ return CreateEntity(scenario_object->GetEntityObject(), scenario_object->GetName());
}
-void EntityCreator::CreateVehicle(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IVehicle> vehicle,
- const std::string& name)
+mantle_api::IVehicle& EntityCreator::CreateVehicle(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IVehicle>& vehicle,
+ const std::string& name)
{
mantle_api::VehicleProperties properties;
properties.type = mantle_api::EntityType::kVehicle;
@@ -129,30 +135,46 @@ void EntityCreator::CreateVehicle(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::I
properties.is_host = true;
}
- environment_->GetEntityRepository().Create(name, properties);
+ return environment_->GetEntityRepository().Create(name, properties);
+}
+
+inline bool IsInWheelchair(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian& pedestrian)
+{
+ return GetEnumValue(pedestrian.GetPedestrianCategory()) == NET_ASAM_OPENSCENARIO::v1_3::PedestrianCategory::PedestrianCategoryEnum::WHEELCHAIR;
}
-void EntityCreator::CreatePedestrian(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IPedestrian> pedestrian,
- const std::string& name)
+mantle_api::IEntity& EntityCreator::CreatePedestrian(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IPedestrian>& pedestrian,
+ const std::string& name)
{
- if (pedestrian->GetPedestrianCategory().GetFromLiteral(pedestrian->GetPedestrianCategory().GetLiteral()) ==
- NET_ASAM_OPENSCENARIO::v1_3::PedestrianCategory::PedestrianCategoryEnum::WHEELCHAIR)
+ if (IsInWheelchair(*pedestrian))
{
- mantle_api::VehicleProperties vehicle_properties;
- vehicle_properties.classification = mantle_api::VehicleClass::kWheelchair;
- FillEntityPropertiesForPedestrian(pedestrian, vehicle_properties);
- environment_->GetEntityRepository().Create(name, vehicle_properties);
+ return CreateWheelchairPedestrian(pedestrian, name);
}
else
{
- mantle_api::PedestrianProperties pedestrian_properties;
- FillEntityPropertiesForPedestrian(pedestrian, pedestrian_properties);
- environment_->GetEntityRepository().Create(name, pedestrian_properties);
+ return CreateRegularPedestrian(pedestrian, name);
}
}
-void EntityCreator::CreateMiscObject(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IMiscObject> misc_object,
- const std::string& name)
+mantle_api::IVehicle& EntityCreator::CreateWheelchairPedestrian(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IPedestrian>& pedestrian,
+ const std::string& name)
+{
+ mantle_api::VehicleProperties vehicle_properties;
+ vehicle_properties.classification = mantle_api::VehicleClass::kWheelchair;
+ FillEntityPropertiesForPedestrian(pedestrian, vehicle_properties);
+ return environment_->GetEntityRepository().Create(name, vehicle_properties);
+}
+
+mantle_api::IPedestrian& EntityCreator::CreateRegularPedestrian(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IPedestrian>& pedestrian,
+ const std::string& name)
+{
+ mantle_api::PedestrianProperties pedestrian_properties;
+ FillEntityPropertiesForPedestrian(pedestrian, pedestrian_properties);
+ return environment_->GetEntityRepository().Create(name, pedestrian_properties);
+}
+
+mantle_api::IStaticObject& EntityCreator::CreateMiscObject(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IMiscObject>& misc_object,
+ const std::string& name)
{
mantle_api::StaticObjectProperties properties;
properties.type = mantle_api::EntityType::kStatic;
@@ -161,32 +183,31 @@ void EntityCreator::CreateMiscObject(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3
FillBoundingBoxProperties(misc_object->GetBoundingBox(), misc_object->GetName(), properties);
FillGenericProperties(*misc_object, properties);
SetVerticalOffset(misc_object, properties);
- environment_->GetEntityRepository().Create(name, properties);
+ return environment_->GetEntityRepository().Create(name, properties);
}
-void EntityCreator::CreateCatalogReferenceEntity(
- std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogReference> catalog_reference,
+mantle_api::IEntity& EntityCreator::CreateCatalogReferenceEntity(
+ const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogReference>& catalog_reference,
const std::string& name)
{
- auto catalog_element = catalog_reference->GetRef();
- if (catalog_element == nullptr)
+ if (!catalog_reference->IsSetRef())
{
- throw std::runtime_error(
- std::string("CatalogReference " + catalog_reference->GetEntryName() + " without ref."));
+ throw std::runtime_error("CatalogReference " + catalog_reference->GetEntryName() + " without ref.");
}
-
+ auto catalog_element = catalog_reference->GetRef();
if (NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsVehicle(catalog_element))
{
- CreateVehicle(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsVehicle(catalog_element), name);
+ return CreateVehicle(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsVehicle(catalog_element), name);
}
- else if (NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsPedestrian(catalog_element))
+ if (NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsPedestrian(catalog_element))
{
- CreatePedestrian(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsPedestrian(catalog_element), name);
+ return CreatePedestrian(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsPedestrian(catalog_element), name);
}
- else if (NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsMiscObject(catalog_element))
+ if (NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::IsMiscObject(catalog_element))
{
- CreateMiscObject(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsMiscObject(catalog_element), name);
+ return CreateMiscObject(NET_ASAM_OPENSCENARIO::v1_3::CatalogHelper::AsMiscObject(catalog_element), name);
}
+ throw std::runtime_error("Catalog reference does not describe a valid entity");
}
void EntityCreator::FillBoundingBoxProperties(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IBoundingBox> bounding_box,
@@ -195,12 +216,12 @@ void EntityCreator::FillBoundingBoxProperties(std::shared_ptr<NET_ASAM_OPENSCENA
{
if (!bounding_box)
{
- throw std::runtime_error(std::string("Entity " + name + " without bounding box."));
+ throw std::runtime_error("Entity " + name + " without bounding box.");
}
auto dimensions = bounding_box->GetDimensions();
if (!dimensions)
{
- throw std::runtime_error(std::string("Bounding box of entity " + name + " without Dimensions."));
+ throw std::runtime_error("Bounding box of entity " + name + " without Dimensions.");
}
properties.bounding_box.dimension.length = units::length::meter_t(dimensions->GetLength());
@@ -210,7 +231,7 @@ void EntityCreator::FillBoundingBoxProperties(std::shared_ptr<NET_ASAM_OPENSCENA
auto center = bounding_box->GetCenter();
if (!center)
{
- throw std::runtime_error(std::string("Bounding box of entity " + name + " without Center."));
+ throw std::runtime_error("Bounding box of entity " + name + " without Center.");
}
properties.bounding_box.geometric_center.x = units::length::meter_t(center->GetX());
@@ -225,7 +246,7 @@ void EntityCreator::FillAxleProperties(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1
{
if (open_scenario_axle == nullptr)
{
- throw std::runtime_error(std::string("Entity " + name + " is missing axle information."));
+ throw std::runtime_error("Entity " + name + " is missing axle information.");
}
axle.bb_center_to_axle_center = {
@@ -255,7 +276,7 @@ mantle_api::VehicleClass EntityCreator::GetVehicleClass(NET_ASAM_OPENSCENARIO::v
{
return map_vehicle_class[vehicle_category.GetFromLiteral(vehicle_category.GetLiteral())];
}
- throw std::runtime_error(std::string("No vehicle class for vehicle category " + vehicle_category.GetLiteral()));
+ throw std::runtime_error("No vehicle class for vehicle category " + vehicle_category.GetLiteral());
}
mantle_api::StaticObjectType EntityCreator::GetStaticObjectType(NET_ASAM_OPENSCENARIO::v1_3::MiscObjectCategory misc_object_category)
@@ -265,7 +286,7 @@ mantle_api::StaticObjectType EntityCreator::GetStaticObjectType(NET_ASAM_OPENSCE
{
return map_static_object_type[misc_object_category.GetFromLiteral(misc_object_category.GetLiteral())];
}
- throw std::runtime_error(std::string("No static object type for misc object category " + misc_object_category.GetLiteral()));
+ throw std::runtime_error("No static object type for misc object category " + misc_object_category.GetLiteral());
}
mantle_api::EntityType EntityCreator::GetEntityTypeFromPedestrianCategory(
@@ -276,7 +297,7 @@ mantle_api::EntityType EntityCreator::GetEntityTypeFromPedestrianCategory(
{
return map_entity_type[pedestrian_category.GetFromLiteral(pedestrian_category.GetLiteral())];
}
- throw std::runtime_error(std::string("No entity type for pedestrian category " + pedestrian_category.GetLiteral()));
+ throw std::runtime_error("No entity type for pedestrian category " + pedestrian_category.GetLiteral());
}
void EntityCreator::SetVerticalOffset(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IMiscObject> misc_object, mantle_api::StaticObjectProperties& entity_properties)
diff --git a/engine/src/Utils/EntityCreator.h b/engine/src/Utils/EntityCreator.h
index 8dc19ed7..03f976d8 100644
--- a/engine/src/Utils/EntityCreator.h
+++ b/engine/src/Utils/EntityCreator.h
@@ -21,16 +21,27 @@ class EntityCreator
public:
explicit EntityCreator(std::shared_ptr<mantle_api::IEnvironment> environment);
- void CreateEntity(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IScenarioObject> scenario_object);
+ mantle_api::IEntity& CreateEntity(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IScenarioObject>& scenario_object);
+
+ mantle_api::IEntity& CreateEntity(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>& entity_object, const std::string& name);
private:
- void CreateVehicle(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IVehicle> vehicle, const std::string& name);
- void CreatePedestrian(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IPedestrian> pedestrian,
- const std::string& name);
- void CreateMiscObject(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IMiscObject> misc_object,
- const std::string& name);
- void CreateCatalogReferenceEntity(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogReference> catalog_reference,
- const std::string& name);
+ mantle_api::IVehicle& CreateVehicle(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IVehicle>& vehicle, const std::string& name);
+
+ mantle_api::IEntity& CreatePedestrian(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IPedestrian>& pedestrian,
+ const std::string& name);
+
+ mantle_api::IVehicle& CreateWheelchairPedestrian(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IPedestrian>& pedestrian,
+ const std::string& name);
+
+ mantle_api::IPedestrian& CreateRegularPedestrian(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IPedestrian>& pedestrian,
+ const std::string& name);
+
+ mantle_api::IStaticObject& CreateMiscObject(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IMiscObject>& misc_object,
+ const std::string& name);
+
+ mantle_api::IEntity& CreateCatalogReferenceEntity(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogReference>& catalog_reference,
+ const std::string& name);
/// Fills the bounding box properties of an entity
/// @param[in] bounding_box The bounding box information to copy from
@@ -86,4 +97,9 @@ private:
std::shared_ptr<mantle_api::IEnvironment> environment_;
};
+template <typename Category>
+inline auto GetEnumValue(const Category& category)
+{
+ return category.GetFromLiteral(category.GetLiteral());
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Interval.h b/engine/src/Utils/Spawning/Interval.h
index 1beb8aed..1748e0e1 100644
--- a/engine/src/Utils/Spawning/Interval.h
+++ b/engine/src/Utils/Spawning/Interval.h
@@ -126,7 +126,7 @@ constexpr Interval Interval::GetIntersection(const Interval& other) const
constexpr Interval Interval::OffsetBy(Padding padding) const
{
- return OffsetBy(padding.rear, padding.front);
+ return OffsetBy(-padding.rear, padding.front);
}
constexpr Interval Interval::OffsetBy(Interval other) const
diff --git a/engine/src/Utils/Spawning/SpawnSpace.h b/engine/src/Utils/Spawning/SpawnSpace.h
index 5315c305..9b838397 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.h
+++ b/engine/src/Utils/Spawning/SpawnSpace.h
@@ -132,7 +132,9 @@ bool SequentialSpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &
const auto &stream{*std::next(area->begin(), std::distance(spot_area->begin(), spot_stream))};
const mantle_api::Pose pose{stream->Convert(mantle_api::ITrafficAreaStream::StreamPose{{interval.max, {}}, {}}).value()};
- // TODO: Spawn entity
+ mantle_api::IEntity &object{spawner.CreateEntity(entity, "NAME_DISCARDED_BY_TRAFFIC_AREA_ACTION")};
+ object.SetPosition(pose.position);
+ object.SetOrientation(pose.orientation);
std::vector<OpenScenarioEngine::v1_3::Interval> new_intervals{spot->SplitBy(Interval{interval.max, interval.max}.OffsetBy(-padding.rear, padding.front))};
if (new_intervals.empty())
diff --git a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
index d4fd0dad..b78a52d9 100644
--- a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
+++ b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
@@ -29,28 +29,76 @@ using testing::OpenScenarioEngine::v1_3::GetScenariosPath;
using testing::OpenScenarioEngine::v1_3::OpenScenarioEngineTestBase;
using namespace units::literals;
+struct MockVehicle : mantle_api::IVehicle
+{
+ mantle_api::UniqueId GetUniqueId() const override { return {}; }
+
+ void SetName(const std::string& name) override {}
+ const std::string& GetName() const override
+ {
+ static std::string s;
+ return s;
+ }
+
+ void SetPosition(const mantle_api::Vec3<units::length::meter_t>& xyz) override { this->xyz = xyz; };
+ mantle_api::Vec3<units::length::meter_t> GetPosition() const override { return {}; }
+
+ void SetVelocity(const mantle_api::Vec3<units::velocity::meters_per_second_t>&) override {}
+ mantle_api::Vec3<units::velocity::meters_per_second_t> GetVelocity() const override { return {}; }
+
+ void SetAcceleration(const mantle_api::Vec3<units::acceleration::meters_per_second_squared_t>&) override {}
+ mantle_api::Vec3<units::acceleration::meters_per_second_squared_t> GetAcceleration() const override { return {}; }
+
+ void SetOrientation(const mantle_api::Orientation3<units::angle::radian_t>& orientation) override { this->orientation = orientation; }
+ mantle_api::Orientation3<units::angle::radian_t> GetOrientation() const override { return {}; }
+
+ void SetOrientationRate(const mantle_api::Orientation3<units::angular_velocity::radians_per_second_t>&) override {}
+ mantle_api::Orientation3<units::angular_velocity::radians_per_second_t> GetOrientationRate() const override { return {}; }
+
+ void SetOrientationAcceleration(const mantle_api::Orientation3<units::angular_acceleration::radians_per_second_squared_t>&) override {}
+ mantle_api::Orientation3<units::angular_acceleration::radians_per_second_squared_t> GetOrientationAcceleration() const override { return {}; }
+
+ void SetProperties(std::unique_ptr<mantle_api::EntityProperties>) override {}
+ mantle_api::VehicleProperties* GetProperties() const override { return {}; }
+
+ void SetAssignedLaneIds(const std::vector<std::uint64_t>&) override {}
+ std::vector<std::uint64_t> GetAssignedLaneIds() const override { return {}; }
+
+ void SetVisibility(const mantle_api::EntityVisibilityConfig& visibility) override {}
+ mantle_api::EntityVisibilityConfig GetVisibility() const override { return {}; }
+
+ void SetIndicatorState(mantle_api::IndicatorState state) override {}
+ mantle_api::IndicatorState GetIndicatorState() const override { return {}; }
+
+ mantle_api::Vec3<units::length::meter_t> xyz;
+ mantle_api::Orientation3<units::angle::radian_t> orientation;
+};
+
class TrafficAreaActionTestFixture : public OpenScenarioEngineTestBase
{
protected:
void SetUp() override
{
+ auto& stream{dynamic_cast<mantle_api::MockTrafficAreaStream&>(*streams.emplace_back(std::make_shared<mantle_api::MockTrafficAreaStream>()))};
OpenScenarioEngineTestBase::SetUp();
ON_CALL(controller_, GetName()).WillByDefault(ReturnRef(controller_name));
ON_CALL(controller_, GetUniqueId()).WillByDefault(Return(1234));
LOGGER = std::make_unique<testing::OpenScenarioEngine::v1_3::TestLogger>();
auto& mockTrafficAreaService{dynamic_cast<mantle_api::MockTrafficAreaService&>(env_->GetTrafficAreaService())};
- ON_CALL(*mock_traffic_area_stream, GetLength()).WillByDefault(Return(500_m));
- // ON_CALL(*mock_traffic_area_stream, Convert(_)).WillByDefault(Return(std::optional<mantle_api::Pose>{std::in_place, mantle_api::ITrafficAreaStream::StreamPosition{100_m, 0_m}, units::angle::radian_t{}}));
- ON_CALL(mockTrafficAreaService, CreateTrafficArea(_)).WillByDefault([this]() -> std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>>
- {
- traffic_area_stream_vec_.emplace_back(std::move(mock_traffic_area_stream));
- return traffic_area_stream_vec_; });
+ ON_CALL(stream, GetLength()).WillByDefault(Return(500_m));
+ ON_CALL(stream, Convert(testing::A<const mantle_api::ITrafficAreaStream::StreamPose&>())).WillByDefault(Return(mantle_api::Pose{mantle_api::Vec3<units::length::meter_t>{100_m, 0_m, 0_m}, mantle_api::Orientation3<units::angle::radian_t>{}})); // clang-format off
+ ON_CALL(mockTrafficAreaService, CreateTrafficArea(_)).WillByDefault([this]() -> std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>> { //
+ return streams;
+ }); // clang-format on
+ auto& entity_repository{static_cast<mantle_api::MockEntityRepository&>(env_->GetEntityRepository())};
+ ON_CALL(entity_repository, Create(testing::A<const std::string&>(), testing::A<const mantle_api::VehicleProperties&>())).WillByDefault(ReturnRef(mock_vehicle));
}
- std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>> traffic_area_stream_vec_;
+ std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>> streams;
std::shared_ptr<testing::OpenScenarioEngine::v1_3::TestLogger> LOGGER;
- std::shared_ptr<mantle_api::MockTrafficAreaStream> mock_traffic_area_stream{std::make_shared<mantle_api::MockTrafficAreaStream>()};
+
+ MockVehicle mock_vehicle;
std::string controller_name{"TestController"};
};
@@ -62,4 +110,5 @@ TEST_F(TrafficAreaActionTestFixture, GivenScenarioWithTrafficAreaAction_WhenInit
engine.Init();
engine.SetupDynamicContent();
engine.Step({});
+ EXPECT_EQ(mock_vehicle.xyz.x, 100_m);
}
diff --git a/engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc b/engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc
index 1314dc68..bc7c5a51 100644
--- a/engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc
+++ b/engine/tests/Storyboard/GenericAction/data/Scenarios/VehicleCatalog.xosc
@@ -14,8 +14,8 @@
</Axles>
<Properties>
<Property name="custom_property" value="5" />
- <Property name="min_spawn_velocity" value="20" />
- <Property name="max_spawn_velocity" value="80" />
+ <Property name="min_spawn_velocity" value="2" />
+ <Property name="max_spawn_velocity" value="8" />
</Properties>
</Vehicle>
</Catalog>
--
GitLab
From d16d5a85a2280dd302732f697fe377bc508bebf8 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Wed, 12 Mar 2025 10:21:45 +0100
Subject: [PATCH 20/26] Fix TTC calculation in TrafficAreaAction
---
engine/src/Utils/Spawning/Interval.cpp | 10 ++++++
engine/src/Utils/Spawning/Interval.h | 18 ++++++++++
engine/src/Utils/Spawning/SpawnSpace.cpp | 30 +++++++++++++++-
engine/src/Utils/Spawning/SpawnSpace.h | 35 ++++++++++---------
engine/src/Utils/Spawning/VelocityRange.cpp | 5 +++
engine/src/Utils/Spawning/VelocityRange.h | 3 ++
.../GenericAction/TrafficAreaActionTest.cpp | 30 ++++++++++++----
7 files changed, 108 insertions(+), 23 deletions(-)
diff --git a/engine/src/Utils/Spawning/Interval.cpp b/engine/src/Utils/Spawning/Interval.cpp
index d35e5077..9946ebe0 100644
--- a/engine/src/Utils/Spawning/Interval.cpp
+++ b/engine/src/Utils/Spawning/Interval.cpp
@@ -43,4 +43,14 @@ std::vector<Interval> Interval::SplitBy(Interval input) const
}
return {};
}
+
+std::ostream& operator<<(std::ostream& os, const Padding& padding)
+{
+ return os << '[' << padding.rear.value() << ", " << padding.front.value() << ']';
+}
+
+std::ostream& operator<<(std::ostream& os, const Interval& interval)
+{
+ return os << '[' << interval.min.value() << ", " << interval.max.value() << ']';
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Interval.h b/engine/src/Utils/Spawning/Interval.h
index 1748e0e1..762a5f83 100644
--- a/engine/src/Utils/Spawning/Interval.h
+++ b/engine/src/Utils/Spawning/Interval.h
@@ -13,6 +13,7 @@
#include <MantleAPI/Traffic/i_traffic_area_stream.h>
#include <units.h>
+#include <iostream>
#include <set>
#include <vector>
@@ -30,6 +31,8 @@ struct Padding
units::length::meter_t front;
};
+std::ostream& operator<<(std::ostream&, const Padding&);
+
struct Interval
{
constexpr Interval(units::length::meter_t min, units::length::meter_t max)
@@ -75,6 +78,11 @@ struct Interval
units::length::meter_t min, max;
};
+constexpr Interval operator+(const Interval&, units::length::meter_t);
+constexpr Interval operator-(const Interval&, units::length::meter_t);
+
+std::ostream& operator<<(std::ostream&, const Interval&);
+
struct OffsetBy
{
constexpr Interval operator()(const Interval&) const;
@@ -139,6 +147,16 @@ constexpr Interval Interval::OffsetBy(units::length::meter_t min_offset, units::
return {min + min_offset, max + max_offset};
}
+constexpr Interval operator+(const Interval& interval, units::length::meter_t offset)
+{
+ return {interval.min + offset, interval.max + offset};
+}
+
+constexpr Interval operator-(const Interval& interval, units::length::meter_t offset)
+{
+ return {interval.min - offset, interval.max - offset};
+}
+
constexpr Interval OffsetBy::operator()(const Interval& interval) const
{
return interval.OffsetBy(offset);
diff --git a/engine/src/Utils/Spawning/SpawnSpace.cpp b/engine/src/Utils/Spawning/SpawnSpace.cpp
index 98ee93e6..b8e77eed 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.cpp
+++ b/engine/src/Utils/Spawning/SpawnSpace.cpp
@@ -74,7 +74,7 @@ SequentialSpawnSpace::FindSpot(const Padding &padding, units::velocity::meters_p
Interval range{spot->OffsetBy(-padding)};
if (range.min <= range.max)
{
- range = range.GetIntersection(spot->OffsetBy(spot->velocity * timespan));
+ range = range.GetIntersection(spot->OffsetBy(spot->velocity * timespan - velocity * timespan));
if (range.min <= range.max)
{
return {area, stream, std::next(spot).base(), std::move(range)};
@@ -176,4 +176,32 @@ Padding GetLengthPadding(const Entity &entity)
const units::length::meter_t half_length{GetLength(entity) * units::dimensionless::scalar_t{.5}};
return {half_length, half_length};
}
+
+void UpdateSpot(std::vector<OpenScenarioEngine::v1_3::SpawnSpot> &stream,
+ std::vector<OpenScenarioEngine::v1_3::SpawnSpot>::iterator spot,
+ const Interval &occupied_space,
+ units::velocity::meters_per_second_t velocity)
+{
+ std::vector<OpenScenarioEngine::v1_3::Interval> new_intervals{spot->SplitBy(occupied_space)};
+ if (new_intervals.empty())
+ {
+ stream.erase(spot);
+ }
+ else
+ {
+ std::vector<SpawnSpot> new_spots{Transform(std::move(new_intervals), [spot](Interval &&interval) -> SpawnSpot { //
+ return {interval, spot->velocity};
+ })};
+ if (new_spots.front().min < occupied_space.min)
+ {
+ new_spots.front().velocity.max = velocity;
+ }
+ if (new_spots.back().max > occupied_space.max)
+ {
+ new_spots.back().velocity.min = velocity;
+ }
+ stream.insert(stream.erase(spot), std::make_move_iterator(new_spots.begin()), std::make_move_iterator(new_spots.end()));
+ }
+}
+
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnSpace.h b/engine/src/Utils/Spawning/SpawnSpace.h
index 9b838397..faef6325 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.h
+++ b/engine/src/Utils/Spawning/SpawnSpace.h
@@ -104,6 +104,19 @@ struct DistributedSpawnSpace : SpawnSpace
/// Returns the positive distance from the entity's center to its rear and the positive distance from the entity's center to its front.
Padding GetLengthPadding(const Entity &);
+
+//! Receives a vector of spawn spots, an iterator to a spot within that vector, an interval contained by that spot and a velocity.
+//! Replaces the spot pointed to by the iterator with the disjunction of the spot's interval and the given interval.
+//! The velocities of the new spots match the given velocity at the end where they touch the given interval.
+//!
+//! @param stream Container of spots in which a specific spot will be erased and possibly others inserted
+//! @param spot Iterator to a spot that will be replaced
+//! @param occupied_space Interval to be cut out of the given spot
+//! @param velocity Velocity of the ends of the new inserted spots at the given interval
+void UpdateSpot(std::vector<OpenScenarioEngine::v1_3::SpawnSpot> &stream,
+ std::vector<OpenScenarioEngine::v1_3::SpawnSpot>::iterator spot,
+ const Interval &occupied_space,
+ units::velocity::meters_per_second_t velocity);
} // namespace OpenScenarioEngine::v1_3
namespace OpenScenarioEngine::v1_3
@@ -131,25 +144,15 @@ bool SequentialSpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &
const auto area{std::next(areas.begin(), std::distance(spots.begin(), spot_area))};
const auto &stream{*std::next(area->begin(), std::distance(spot_area->begin(), spot_stream))};
const mantle_api::Pose pose{stream->Convert(mantle_api::ITrafficAreaStream::StreamPose{{interval.max, {}}, {}}).value()};
-
mantle_api::IEntity &object{spawner.CreateEntity(entity, "NAME_DISCARDED_BY_TRAFFIC_AREA_ACTION")};
object.SetPosition(pose.position);
object.SetOrientation(pose.orientation);
-
- std::vector<OpenScenarioEngine::v1_3::Interval> new_intervals{spot->SplitBy(Interval{interval.max, interval.max}.OffsetBy(-padding.rear, padding.front))};
- if (new_intervals.empty())
- {
- spot_stream->erase(spot);
- }
- else
- {
- std::vector<SpawnSpot> new_spots{Transform(std::move(new_intervals), [spot](Interval &&interval) -> SpawnSpot { //
- return {interval, spot->velocity};
- })};
- new_spots.front().velocity.max = spawn_velocity;
- new_spots.back().velocity.min = spawn_velocity;
- spot_stream->insert(spot_stream->erase(spot), std::make_move_iterator(new_spots.begin()), std::make_move_iterator(new_spots.end()));
- }
+ const auto occupied_space{Interval{interval.max, interval.max}.OffsetBy(-padding.rear, padding.front)};
+ // object.SetAssignedLaneIds(areas[static_cast<size_t>(std::distance(spots.begin(), spot_area))] // clang-format off
+ // [static_cast<size_t>(std::distance(spot_area->begin(), spot_stream))]->GetLanesIds(
+ // occupied_space.min, occupied_space.max
+ // )); // clang-format on
+ UpdateSpot(*spot_stream, spot, occupied_space, spawn_velocity);
return true;
}
return false;
diff --git a/engine/src/Utils/Spawning/VelocityRange.cpp b/engine/src/Utils/Spawning/VelocityRange.cpp
index 0190e588..7e028a6a 100644
--- a/engine/src/Utils/Spawning/VelocityRange.cpp
+++ b/engine/src/Utils/Spawning/VelocityRange.cpp
@@ -97,4 +97,9 @@ units::velocity::meters_per_second_t SampleVelocity(const VelocityRange &range,
{
return units::velocity::meters_per_second_t{rng.GetUniformDistributed(range.min.value(), range.max.value())};
}
+
+std::ostream &operator<<(std::ostream &os, const VelocityRange &range)
+{
+ return os << '[' << range.min.value() << " - " << range.max.value() << ']';
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/VelocityRange.h b/engine/src/Utils/Spawning/VelocityRange.h
index a4a9eeb7..65c40a55 100644
--- a/engine/src/Utils/Spawning/VelocityRange.h
+++ b/engine/src/Utils/Spawning/VelocityRange.h
@@ -12,6 +12,7 @@
#include <Stochastics/StochasticsInterface.h>
#include <units.h>
+#include <iostream>
#include <memory>
#include "Interval.h"
@@ -53,6 +54,8 @@ template <typename Input>
VelocityRange GetSpawnVelocityRange(Input &&);
units::velocity::meters_per_second_t SampleVelocity(const VelocityRange &, StochasticsInterface &);
+
+std::ostream &operator<<(std::ostream &, const VelocityRange &);
} // namespace OpenScenarioEngine::v1_3
namespace OpenScenarioEngine::v1_3
diff --git a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
index b78a52d9..594ce5c7 100644
--- a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
+++ b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
@@ -10,12 +10,14 @@
#include <MantleAPI/Test/test_utils.h>
#include <Storyboard/GenericAction/TrafficAreaAction.h>
+#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <units.h>
#include <memory>
#include <string>
#include <utility>
+#include <vector>
#include "OpenScenarioEngine/OpenScenarioEngine.h"
#include "TestUtils.h"
@@ -23,6 +25,7 @@
using testing::_;
using testing::HasSubstr;
+using testing::NiceMock;
using testing::Return;
using testing::ReturnRef;
using testing::OpenScenarioEngine::v1_3::GetScenariosPath;
@@ -87,18 +90,22 @@ protected:
auto& mockTrafficAreaService{dynamic_cast<mantle_api::MockTrafficAreaService&>(env_->GetTrafficAreaService())};
ON_CALL(stream, GetLength()).WillByDefault(Return(500_m));
- ON_CALL(stream, Convert(testing::A<const mantle_api::ITrafficAreaStream::StreamPose&>())).WillByDefault(Return(mantle_api::Pose{mantle_api::Vec3<units::length::meter_t>{100_m, 0_m, 0_m}, mantle_api::Orientation3<units::angle::radian_t>{}})); // clang-format off
- ON_CALL(mockTrafficAreaService, CreateTrafficArea(_)).WillByDefault([this]() -> std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>> { //
+ ON_CALL(stream, Convert(testing::A<const mantle_api::ITrafficAreaStream::StreamPose&>())).WillByDefault([](const mantle_api::ITrafficAreaStream::StreamPose& pose) { // clang-format off
+ return mantle_api::Pose{mantle_api::Vec3<units::length::meter_t>{pose.s, pose.t, 0_m}, mantle_api::Orientation3<units::angle::radian_t>{}};
+ });
+ ON_CALL(mockTrafficAreaService, CreateTrafficArea(_)).WillByDefault([this]() -> std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>> { //
return streams;
+ }); // clang-format on
+ auto& entity_repository{static_cast<mantle_api::MockEntityRepository&>(env_->GetEntityRepository())}; // clang-format off
+ ON_CALL(entity_repository, Create(testing::A<const std::string&>(), testing::A<const mantle_api::VehicleProperties&>())).WillByDefault([this](const std::string&, const mantle_api::VehicleProperties&) -> NiceMock<MockVehicle>& {
+ return mock_vehicles.emplace_back();
}); // clang-format on
- auto& entity_repository{static_cast<mantle_api::MockEntityRepository&>(env_->GetEntityRepository())};
- ON_CALL(entity_repository, Create(testing::A<const std::string&>(), testing::A<const mantle_api::VehicleProperties&>())).WillByDefault(ReturnRef(mock_vehicle));
}
std::vector<std::shared_ptr<mantle_api::ITrafficAreaStream>> streams;
std::shared_ptr<testing::OpenScenarioEngine::v1_3::TestLogger> LOGGER;
- MockVehicle mock_vehicle;
+ std::vector<NiceMock<MockVehicle>> mock_vehicles;
std::string controller_name{"TestController"};
};
@@ -110,5 +117,16 @@ TEST_F(TrafficAreaActionTestFixture, GivenScenarioWithTrafficAreaAction_WhenInit
engine.Init();
engine.SetupDynamicContent();
engine.Step({});
- EXPECT_EQ(mock_vehicle.xyz.x, 100_m);
+ const size_t offset{1}; // SetupDynamicContent spawns one entity, which we want to ignore (env_->GetEntityRepository().GetEntities().size() does not work)
+ // The initial area is 500m long. The vehicle is 5_m long.
+ // The last place its center can be placed at is 500 - 5/2 = 497.5
+ EXPECT_EQ(mock_vehicles[0 + offset].xyz.x, 497.5_m);
+ // The prior vehicle starts at 497.5 - 5/2 = 495
+ // The last place the next vehicle's center can be placed at is 495 - 5/2 = 492.5
+ // If its randomly sampled velocity is greater than that of the prior vehicle, it may be placed even further back
+ EXPECT_LE(mock_vehicles[1 + offset].xyz.x, 492.5_m);
+ for (auto vehicle{std::next(mock_vehicles.begin(), offset + 1)}; vehicle < mock_vehicles.end(); ++vehicle)
+ {
+ EXPECT_LE(vehicle->xyz.x, std::prev(vehicle)->xyz.x - 5_m);
+ }
}
--
GitLab
From f2fa931eb7ebef0f254141a67df3bb56c86003cd Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Wed, 19 Mar 2025 17:55:48 +0100
Subject: [PATCH 21/26] Pass ScenarioObjectTemplate through TrafficAreaAction
Doing so makes the list of controllers available when spawning
---
engine/cmake/generated_files.cmake | 1 +
.../ConvertScenarioTrafficDistribution.cpp | 2 +-
.../ConvertScenarioTrafficDistribution.h | 2 +-
.../GenericAction/TrafficAreaAction.cpp | 22 +------
.../GenericAction/TrafficAreaAction.h | 10 +++
engine/src/Utils/Spawning/Length.cpp | 10 +--
engine/src/Utils/Spawning/Length.h | 28 +++++++-
engine/src/Utils/Spawning/SpawnSpace.cpp | 24 +++----
engine/src/Utils/Spawning/SpawnSpace.h | 49 +++++++-------
engine/src/Utils/Spawning/VelocityRange.cpp | 5 ++
engine/src/Utils/Spawning/VelocityRange.h | 1 +
engine/src/Utils/Spawning/Weight.cpp | 7 --
engine/src/Utils/Spawning/Weight.h | 13 +++-
.../{WeightedEntity.h => Weighted.cpp} | 19 +++---
engine/src/Utils/Spawning/Weighted.h | 65 +++++++++++++++++++
15 files changed, 169 insertions(+), 89 deletions(-)
rename engine/src/Utils/Spawning/{WeightedEntity.h => Weighted.cpp} (57%)
create mode 100644 engine/src/Utils/Spawning/Weighted.h
diff --git a/engine/cmake/generated_files.cmake b/engine/cmake/generated_files.cmake
index 1c4c3ab5..4750e194 100644
--- a/engine/cmake/generated_files.cmake
+++ b/engine/cmake/generated_files.cmake
@@ -239,6 +239,7 @@ list(APPEND ${PROJECT_NAME}_SOURCES
src/Utils/Spawning/SpawnZone.cpp
src/Utils/Spawning/VelocityRange.cpp
src/Utils/Spawning/Weight.cpp
+ src/Utils/Spawning/Weighted.cpp
src/Utils/ConditionEdgeEvaluator.cpp
src/Utils/ControllerCreator.cpp
src/Utils/ControllerService.cpp
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
index 1fd3d7a3..8f2cdb17 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.cpp
@@ -33,7 +33,7 @@ struct ToTrafficDistribution
TrafficDistribution operator()(const NET_ASAM_OPENSCENARIO::v1_3::ITrafficDistributionEntry& entry) const
{
return {TransformSharedPointers(entry.GetEntityDistribution()->GetEntityDistributionEntry(), [](const NET_ASAM_OPENSCENARIO::v1_3::IEntityDistributionEntry& entry)
- { return entry.GetScenarioObjectTemplate()->GetEntitiyObject(); }), // https://github.com/RA-Consulting-GmbH/openscenario.api.test/issues/222
+ { return entry.GetScenarioObjectTemplate(); }), // https://github.com/RA-Consulting-GmbH/openscenario.api.test/issues/222
entry.GetWeight()};
}
};
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
index 5442081e..2149edf1 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h
@@ -20,7 +20,7 @@
namespace OpenScenarioEngine::v1_3
{
-struct TrafficDistribution : Iterable<std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>>>
+struct TrafficDistribution : Iterable<std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate>>>
{
units::dimensionless::scalar_t weight;
};
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
index 3c7d47a7..af2ab558 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
@@ -29,23 +29,6 @@ void TrafficAreaAction::UpdateTrafficAreas()
bool TrafficAreaAction::Step()
{
- // Spawn entities in a randomly selected area among this action's defined traffic areas.
- // Selection is weighted based on the length of each area's remaining spawnable area (SpawnZone).
-
- // Traffic distributions determine which vehicles can spawn and their likelihood of spawning. The distributions are sorted by
- // entity length for efficient filtering in case the largest interval grows smaller than some spawnable entities. Similary, a
- // SpawnZone tracks its largest interval (without sorting, as it would have to be reordered each time an entity is spawned).
-
- // The general process of the spawn loop must go as follows:
- // - Filter out the entities of all traffic distributions longer than the largest interval of all areas.
- // (can be skipped if the last spawned entity was not on the largest interval)
- // - Sample the entity to be spawned based on the weights of all entity distributions
- // - Filter out the intervals of all areas shorter than the entity to be spawned
- // - Sample the spawn position from the total length of all remaining intervals
- // - Shrink the sampled interval interval by the front and rear offset from the entity's center to its
- // front and rear bounds, scaling the sampled value accordingly.
- // - Spawn the entity and update the computed area intervals and lengths.
-
if (values.numberOfEntities == 0) // No entities left to spawn
{
return true;
@@ -88,7 +71,8 @@ yase::NodeStatus TrafficAreaAction::tick()
void TrafficAreaAction::lookupAndRegisterData(yase::Blackboard& blackboard)
{
- std::shared_ptr<mantle_api::IEnvironment> environment = blackboard.get<std::shared_ptr<mantle_api::IEnvironment>>("Environment");
+ auto environment = blackboard.get<std::shared_ptr<mantle_api::IEnvironment>>("Environment");
+ std::shared_ptr<IControllerService> controller_service = blackboard.get<std::shared_ptr<IControllerService>>("ControllerService");
impl_ = std::make_unique<OpenScenarioEngine::v1_3::TrafficAreaAction>(
Values<OpenScenarioEngine::v1_3::TrafficAreaAction>{
@@ -96,7 +80,7 @@ void TrafficAreaAction::lookupAndRegisterData(yase::Blackboard& blackboard)
action_->GetNumberOfEntities(),
ConvertScenarioTrafficDistribution(action_->GetTrafficDistribution()),
ConvertScenarioTrafficArea(action_->GetTrafficArea())},
- Interfaces<OpenScenarioEngine::v1_3::TrafficAreaAction>{environment});
+ Interfaces<OpenScenarioEngine::v1_3::TrafficAreaAction>{environment, controller_service});
}
} // namespace Node
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.h b/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
index 22cd970d..13633df5 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
@@ -24,6 +24,7 @@
#include "Action.h"
#include "Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h"
+#include "Utils/IControllerService.h"
namespace OpenScenarioEngine::v1_3
{
@@ -38,6 +39,15 @@ struct Values<TrafficAreaAction>
std::vector<mantle_api::RoadRange> trafficArea;
};
+template <>
+struct Interfaces<TrafficAreaAction>
+{
+ std::shared_ptr<mantle_api::IEnvironment> environment;
+ std::shared_ptr<IControllerService> controller_service;
+
+ // void CreateController(mantle_api::IEntity& entity);
+};
+
class TrafficAreaAction : public Action<TrafficAreaAction>
{
public:
diff --git a/engine/src/Utils/Spawning/Length.cpp b/engine/src/Utils/Spawning/Length.cpp
index 03706dd3..1d2a41e6 100644
--- a/engine/src/Utils/Spawning/Length.cpp
+++ b/engine/src/Utils/Spawning/Length.cpp
@@ -29,11 +29,6 @@ units::length::meter_t ToLength::operator()(const mantle_api::TrafficArea& area)
return std::transform_reduce(area.begin(), area.end(), units::length::meter_t{}, std::plus<>{}, *this);
}
-units::length::meter_t ToLength::operator()(const WeightedEntity& entity) const
-{
- return (*this)(entity.handle);
-}
-
units::length::meter_t ToLength::operator()(const mantle_api::IEntity& entity) const
{
return (*this)(entity.GetProperties());
@@ -107,4 +102,9 @@ units::length::meter_t ToLength::operator()(const NET_ASAM_OPENSCENARIO::v1_3::I
}
throw std::runtime_error("ToLength: Entity is not a catalog reference, vehicle, pedestrian or misc. object.");
}
+
+units::length::meter_t ToLength::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate& input) const
+{
+ return (*this)(input.GetEntitiyObject());
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Length.h b/engine/src/Utils/Spawning/Length.h
index e5c9702d..47d7de9c 100644
--- a/engine/src/Utils/Spawning/Length.h
+++ b/engine/src/Utils/Spawning/Length.h
@@ -22,11 +22,10 @@
#include "Interval.h"
#include "SpawnZone.h"
#include "Transform.h"
+#include "Weighted.h"
namespace OpenScenarioEngine::v1_3
{
-struct WeightedEntity;
-
struct ToLength
{
constexpr units::length::meter_t operator()(units::length::meter_t) const;
@@ -38,7 +37,8 @@ struct ToLength
template <typename Type>
units::length::meter_t operator()(const std::shared_ptr<Type>&) const;
- units::length::meter_t operator()(const WeightedEntity&) const;
+ template <typename Type>
+ units::length::meter_t operator()(const Weighted<Type>&) const;
units::length::meter_t operator()(const mantle_api::IEntity&) const;
@@ -62,6 +62,8 @@ struct ToLength
units::length::meter_t operator()(const SpawnZones&) const;
units::length::meter_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject&) const;
+
+ units::length::meter_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate&) const;
};
struct ToSize
@@ -85,6 +87,13 @@ struct ToAccumulatedLength
units::length::meter_t totalLength;
};
+
+/// Returns the positive distance from the entity's center to its rear and the positive distance from the entity's center to its front.
+///
+/// \tparam Type Type for which GetLength(const Type&) is implemented
+/// \return Positive distance from the entity's center to its rear and the positive distance from the entity's center to its front
+template <typename Type>
+Padding GetLengthPadding(const Type&);
} // namespace OpenScenarioEngine::v1_3
namespace OpenScenarioEngine::v1_3
@@ -105,6 +114,12 @@ units::length::meter_t ToLength::operator()(const std::shared_ptr<Type>& input)
return ToLength{}(*input);
}
+template <typename Type>
+units::length::meter_t ToLength::operator()(const Weighted<Type>& input) const
+{
+ return ToLength{}(input.handle);
+}
+
template <typename Type>
units::length::meter_t ToLength::operator()(const Type* input) const
{
@@ -140,4 +155,11 @@ units::length::meter_t ToAccumulatedLength::operator()(const Type& input)
totalLength += GetLength(input);
return totalLength;
}
+
+template <typename Input>
+Padding GetLengthPadding(const Input& input)
+{ // TODO: Consider the center offset of the entity's bounds
+ const units::length::meter_t half_length{GetLength(input) * units::dimensionless::scalar_t{.5}};
+ return {half_length, half_length};
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/SpawnSpace.cpp b/engine/src/Utils/Spawning/SpawnSpace.cpp
index b8e77eed..889f8f44 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.cpp
+++ b/engine/src/Utils/Spawning/SpawnSpace.cpp
@@ -30,7 +30,7 @@ SpawnSpace::SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &dis
for (auto &distribution : distributions)
{
std::transform(distribution.begin(), distribution.end(), std::back_inserter(entities), //
- [weight = distribution.weight](const Entity &entity) -> WeightedEntity
+ [weight = distribution.weight](const ObjectTemplate &entity) -> Weighted<ObjectTemplate>
{ return {entity, weight}; });
}
std::sort(entities.begin(), entities.end(), Less<ToLength>{});
@@ -47,11 +47,11 @@ SequentialSpawnSpace::SequentialSpawnSpace(const std::vector<mantle_api::Traffic
}); // clang-format on
}
-Entity SequentialSpawnSpace::SampleEntity(StochasticsInterface &rng) const
+ObjectTemplate SequentialSpawnSpace::SampleObjectTemplate(StochasticsInterface &rng) const
{
if (entities.size() <= 1)
{
- return entities.empty() ? Entity{} : entities.front().handle;
+ return entities.empty() ? ObjectTemplate{} : entities.front().handle;
}
assert(weights.size() == entities.size() + 1);
const units::dimensionless::scalar_t sampled_weight{rng.GetUniformDistributed(.0, weights.back().value())};
@@ -110,13 +110,13 @@ DistributedSpawnSpace::DistributedSpawnSpace(const OpenScenarioEngine::v1_3::Tra
}
}
-Entity DistributedSpawnSpace::SampleEntity(StochasticsInterface &rng) const
+ObjectTemplate DistributedSpawnSpace::SampleObjectTemplate(StochasticsInterface &rng) const
{
const units::length::meter_t max_length{GetMaxIntervalLength()};
const auto entity_end{FindSpawnableEntityEnd(max_length)};
if (std::distance(entities.begin(), entity_end) <= 1)
{
- return entity_end == entities.begin() ? Entity{} : entities.front().handle;
+ return entity_end == entities.begin() ? ObjectTemplate{} : entities.front().handle;
}
assert(weights.size() == entities.size() + 1);
const units::dimensionless::scalar_t max_weight{weights[static_cast<size_t>(std::distance(entities.begin(), entity_end))]};
@@ -129,14 +129,14 @@ units::length::meter_t DistributedSpawnSpace::GetMaxIntervalLength() const
return spots.empty() ? units::length::meter_t{} : GetLength(*spots.rbegin());
}
-std::vector<WeightedEntity>::const_iterator DistributedSpawnSpace::FindSpawnableEntityEnd(units::length::meter_t threshold) const
+std::vector<Weighted<ObjectTemplate>>::const_iterator DistributedSpawnSpace::FindSpawnableEntityEnd(units::length::meter_t threshold) const
{
- return std::upper_bound(entities.begin(), entities.end(), threshold, [](units::length::meter_t threshold, const WeightedEntity &entity)
+ return std::upper_bound(entities.begin(), entities.end(), threshold, [](units::length::meter_t threshold, const Weighted<ObjectTemplate> &entity)
{ return threshold < GetLength(entity); });
}
-std::vector<WeightedEntity>::iterator DistributedSpawnSpace::FindSpawnableEntityEnd(units::length::meter_t threshold)
+std::vector<Weighted<ObjectTemplate>>::iterator DistributedSpawnSpace::FindSpawnableEntityEnd(units::length::meter_t threshold)
{
- return std::upper_bound(entities.begin(), entities.end(), threshold, [](units::length::meter_t threshold, const WeightedEntity &entity)
+ return std::upper_bound(entities.begin(), entities.end(), threshold, [](units::length::meter_t threshold, const Weighted<ObjectTemplate> &entity)
{ return threshold < GetLength(entity); });
}
@@ -171,12 +171,6 @@ std::set<SpawnSpot, Less<ToLength>>::const_iterator DistributedSpawnSpace::Sampl
return Sample(candidates, lengths, sampledLength);
}
-Padding GetLengthPadding(const Entity &entity)
-{ // TODO: Consider the center offset of the entity's bounds
- const units::length::meter_t half_length{GetLength(entity) * units::dimensionless::scalar_t{.5}};
- return {half_length, half_length};
-}
-
void UpdateSpot(std::vector<OpenScenarioEngine::v1_3::SpawnSpot> &stream,
std::vector<OpenScenarioEngine::v1_3::SpawnSpot>::iterator spot,
const Interval &occupied_space,
diff --git a/engine/src/Utils/Spawning/SpawnSpace.h b/engine/src/Utils/Spawning/SpawnSpace.h
index faef6325..0c485089 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.h
+++ b/engine/src/Utils/Spawning/SpawnSpace.h
@@ -25,7 +25,7 @@
#include "SpawnSpot.h"
#include "SpawnZone.h"
#include "VelocityRange.h"
-#include "WeightedEntity.h"
+#include "Weighted.h"
namespace OpenScenarioEngine::v1_3
{
@@ -33,7 +33,7 @@ struct SpawnSpace
{
SpawnSpace(const OpenScenarioEngine::v1_3::TrafficDistributions &);
- std::vector<WeightedEntity> entities; // Entities sorted by ascending length
+ std::vector<Weighted<ObjectTemplate>> entities; // Object templates (entity + controllers) sorted by ascending length
std::vector<units::dimensionless::scalar_t> weights; // Used to sample an entity
};
@@ -48,8 +48,8 @@ struct SequentialSpawnSpace : SpawnSpace
/// Samples and returns a random entity without considering the remaining space.
///
- /// \return Entity Random entity out of this space's entities. If it has none, a nullptr is returned.
- Entity SampleEntity(StochasticsInterface &) const;
+ /// \return Random entity out of this space's entities. If it has none, a nullptr is returned.
+ ObjectTemplate SampleObjectTemplate(StochasticsInterface &) const;
/// Tries to spawn an entity and returns whether spawning was successful.
/// If successful, also adjusts the spawn space's intervals.
@@ -80,9 +80,15 @@ struct DistributedSpawnSpace : SpawnSpace
/// Returns the entity out of the set of entities in this space based on the given sample
///
- Entity GetEntity(units::dimensionless::scalar_t sample);
+ /// \param sample Value within the accumulated weights of each entity of this space
+ /// \return Blueprint for spawning an entity alongside controllers for that entity
+ ObjectTemplate GetObjectTemplate(units::dimensionless::scalar_t sample);
- Entity SampleEntity(StochasticsInterface &) const;
+ //! Returns a random object template (entity + controllers) using the given number generator
+ //!
+ //! \param StochasticsInterface Random number generator used to sample a weight
+ //! \return Randomly selected object template
+ ObjectTemplate SampleObjectTemplate(StochasticsInterface &) const;
std::set<SpawnSpot, Less<ToLength>>::const_iterator SampleSpot(units::length::meter_t min_length, VelocityRange, StochasticsInterface &) const;
@@ -96,15 +102,12 @@ struct DistributedSpawnSpace : SpawnSpace
units::length::meter_t GetMaxIntervalLength() const;
- std::vector<WeightedEntity>::const_iterator FindSpawnableEntityEnd(units::length::meter_t upper_bound) const;
- std::vector<WeightedEntity>::iterator FindSpawnableEntityEnd(units::length::meter_t upper_bound);
+ typename std::vector<Weighted<ObjectTemplate>>::const_iterator FindSpawnableEntityEnd(units::length::meter_t upper_bound) const;
+ typename std::vector<Weighted<ObjectTemplate>>::iterator FindSpawnableEntityEnd(units::length::meter_t upper_bound);
std::set<SpawnSpot, Less<ToLength>> spots;
};
-/// Returns the positive distance from the entity's center to its rear and the positive distance from the entity's center to its front.
-Padding GetLengthPadding(const Entity &);
-
//! Receives a vector of spawn spots, an iterator to a spot within that vector, an interval contained by that spot and a velocity.
//! Replaces the spot pointed to by the iterator with the disjunction of the spot's interval and the given interval.
//! The velocities of the new spots match the given velocity at the end where they touch the given interval.
@@ -126,32 +129,30 @@ bool SequentialSpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &
{
using namespace units::literals;
+ static size_t i{0};
+
if (spots.empty())
{
return false;
}
- Entity entity{SampleEntity(rng)};
- if (entity == nullptr)
+ ObjectTemplate blueprint{SampleObjectTemplate(rng)};
+ if (blueprint == nullptr)
{
return false;
}
- const auto velocity_range{GetSpawnVelocityRange(entity)};
+ const auto velocity_range{GetSpawnVelocityRange(blueprint)};
auto spawn_velocity{SampleVelocity(velocity_range, rng)};
const units::time::second_t minimum_time_to_collision{2_s};
- const Padding padding{GetLengthPadding(entity)};
+ const Padding padding{GetLengthPadding(blueprint)};
if (auto [spot_area, spot_stream, spot, interval]{FindSpot(padding, spawn_velocity, minimum_time_to_collision)}; spot_area != spots.end())
{
const auto area{std::next(areas.begin(), std::distance(spots.begin(), spot_area))};
const auto &stream{*std::next(area->begin(), std::distance(spot_area->begin(), spot_stream))};
const mantle_api::Pose pose{stream->Convert(mantle_api::ITrafficAreaStream::StreamPose{{interval.max, {}}, {}}).value()};
- mantle_api::IEntity &object{spawner.CreateEntity(entity, "NAME_DISCARDED_BY_TRAFFIC_AREA_ACTION")};
+ mantle_api::IEntity &object{spawner.CreateEntity(GetEntity(blueprint), "Common" + std::to_string(++i))};
object.SetPosition(pose.position);
object.SetOrientation(pose.orientation);
const auto occupied_space{Interval{interval.max, interval.max}.OffsetBy(-padding.rear, padding.front)};
- // object.SetAssignedLaneIds(areas[static_cast<size_t>(std::distance(spots.begin(), spot_area))] // clang-format off
- // [static_cast<size_t>(std::distance(spot_area->begin(), spot_stream))]->GetLanesIds(
- // occupied_space.min, occupied_space.max
- // )); // clang-format on
UpdateSpot(*spot_stream, spot, occupied_space, spawn_velocity);
return true;
}
@@ -161,13 +162,13 @@ bool SequentialSpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &
template <typename EntityCreator>
bool DistributedSpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &rng)
{
- Entity entity{SampleEntity(rng)};
- if (entity == nullptr)
+ ObjectTemplate blueprint{SampleObjectTemplate(rng)};
+ if (blueprint == nullptr)
{
return false;
}
- const auto velocity_range{GetSpawnVelocityRange(entity)};
- const auto spot{SampleSpot(GetLength(entity), velocity_range, rng)};
+ const auto velocity_range{GetSpawnVelocityRange(blueprint)};
+ const auto spot{SampleSpot(GetLength(blueprint), velocity_range, rng)};
if (spot == spots.end())
{
return false;
diff --git a/engine/src/Utils/Spawning/VelocityRange.cpp b/engine/src/Utils/Spawning/VelocityRange.cpp
index 7e028a6a..5fc6f685 100644
--- a/engine/src/Utils/Spawning/VelocityRange.cpp
+++ b/engine/src/Utils/Spawning/VelocityRange.cpp
@@ -56,6 +56,11 @@ VelocityRange ToSpawnVelocityRange::operator()(const std::shared_ptr<NET_ASAM_OP
throw std::runtime_error("ToSpawnVelocityRange: Invalid catalog reference. Contains no vehicle, pedestrian or misc. object.");
}
+VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate &input) const
+{
+ return (*this)(input.GetEntitiyObject());
+}
+
VelocityRange ToSpawnVelocityRange::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle &vehicle) const
{
return (*this)(vehicle.GetProperties());
diff --git a/engine/src/Utils/Spawning/VelocityRange.h b/engine/src/Utils/Spawning/VelocityRange.h
index 65c40a55..0ac14b0b 100644
--- a/engine/src/Utils/Spawning/VelocityRange.h
+++ b/engine/src/Utils/Spawning/VelocityRange.h
@@ -43,6 +43,7 @@ struct ToSpawnVelocityRange
VelocityRange operator()(const std::shared_ptr<Type> &) const;
VelocityRange operator()(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ICatalogElement> &) const;
+ VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate &) const;
VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IEntityObject &) const;
VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IVehicle &) const;
VelocityRange operator()(const NET_ASAM_OPENSCENARIO::v1_3::IPedestrian &) const;
diff --git a/engine/src/Utils/Spawning/Weight.cpp b/engine/src/Utils/Spawning/Weight.cpp
index 96774fbc..571157b6 100644
--- a/engine/src/Utils/Spawning/Weight.cpp
+++ b/engine/src/Utils/Spawning/Weight.cpp
@@ -9,8 +9,6 @@
********************************************************************************/
#include "Weight.h"
-#include "WeightedEntity.h"
-
namespace OpenScenarioEngine::v1_3
{
units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate& object) const
@@ -66,9 +64,4 @@ units::dimensionless::scalar_t ToWeight::operator()(const NET_ASAM_OPENSCENARIO:
}
throw std::runtime_error("ToWeight: 'Weight' not found in properties");
}
-
-units::dimensionless::scalar_t ToWeight::operator()(const WeightedEntity& entity) const
-{
- return entity.weight;
-}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Weight.h b/engine/src/Utils/Spawning/Weight.h
index e5d83854..f2ff9cdd 100644
--- a/engine/src/Utils/Spawning/Weight.h
+++ b/engine/src/Utils/Spawning/Weight.h
@@ -15,10 +15,10 @@
#include <memory>
+#include "Weighted.h"
+
namespace OpenScenarioEngine::v1_3
{
-struct WeightedEntity;
-
struct ToWeight
{
constexpr units::dimensionless::scalar_t operator()(units::dimensionless::scalar_t) const;
@@ -40,7 +40,8 @@ struct ToWeight
units::dimensionless::scalar_t operator()(const NET_ASAM_OPENSCENARIO::v1_3::IProperties&) const;
- units::dimensionless::scalar_t operator()(const WeightedEntity&) const;
+ template <typename Type>
+ units::dimensionless::scalar_t operator()(const Weighted<Type>&) const;
};
template <typename Input>
@@ -68,6 +69,12 @@ units::dimensionless::scalar_t ToWeight::operator()(const std::shared_ptr<Type>&
return ToWeight{}(*input);
}
+template <typename Type>
+units::dimensionless::scalar_t ToWeight::operator()(const Weighted<Type>& input) const
+{
+ return input.weight;
+}
+
template <typename Input>
units::dimensionless::scalar_t GetWeight(Input&& input)
{
diff --git a/engine/src/Utils/Spawning/WeightedEntity.h b/engine/src/Utils/Spawning/Weighted.cpp
similarity index 57%
rename from engine/src/Utils/Spawning/WeightedEntity.h
rename to engine/src/Utils/Spawning/Weighted.cpp
index e17b8183..2702aecb 100644
--- a/engine/src/Utils/Spawning/WeightedEntity.h
+++ b/engine/src/Utils/Spawning/Weighted.cpp
@@ -7,20 +7,17 @@
*
* SPDX-License-Identifier: EPL-2.0
********************************************************************************/
-#pragma once
-
-#include <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
-#include <units.h>
-
-#include <memory>
+#include "Weighted.h"
namespace OpenScenarioEngine::v1_3
{
-using Entity = typename std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject>;
+std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>> GetControllers(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate& handle)
+{
+ return handle.GetObjectController();
+}
-struct WeightedEntity
+std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject> GetEntity(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate& handle)
{
- Entity handle;
- units::dimensionless::scalar_t weight; // Product of the distribution's weight and the weight of this entity's handle
-};
+ return handle.GetEntitiyObject();
+}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/Weighted.h b/engine/src/Utils/Spawning/Weighted.h
new file mode 100644
index 00000000..b9288b4d
--- /dev/null
+++ b/engine/src/Utils/Spawning/Weighted.h
@@ -0,0 +1,65 @@
+/********************************************************************************
+ * 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 <openScenarioLib/generated/v1_3/api/ApiClassInterfacesV1_3.h>
+#include <units.h>
+
+#include <memory>
+
+namespace OpenScenarioEngine::v1_3
+{
+//! \brief Shared point of a scenario object template, which is an entity paired with an arbitrary number of controllers
+using ObjectTemplate = typename std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate>;
+
+template <typename Type>
+struct Weighted
+{
+ constexpr operator const Type&() const;
+ constexpr operator Type&();
+
+ Type handle;
+ units::dimensionless::scalar_t weight;
+};
+
+template <typename Type>
+std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>> GetControllers(const std::shared_ptr<Type>&);
+
+std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>> GetControllers(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate&);
+
+template <typename Type>
+std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject> GetEntity(const std::shared_ptr<Type>&);
+
+std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject> GetEntity(const NET_ASAM_OPENSCENARIO::v1_3::IScenarioObjectTemplate&);
+
+template <typename Type>
+constexpr Weighted<Type>::operator const Type&() const
+{
+ return (handle);
+}
+
+template <typename Type>
+constexpr Weighted<Type>::operator Type&()
+{
+ return (handle);
+}
+
+template <typename Type>
+std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>> GetControllers(const std::shared_ptr<Type>& input)
+{
+ return GetControllers(*input);
+}
+
+template <typename Type>
+std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IEntityObject> GetEntity(const std::shared_ptr<Type>& input)
+{
+ return GetEntity(*input);
+}
+} // namespace OpenScenarioEngine::v1_3
--
GitLab
From 37dd227d9efbae65cff11d88ce3fe3e94e735d11 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Fri, 21 Mar 2025 10:43:48 +0100
Subject: [PATCH 22/26] TrafficAreaAction: Add controllers
---
.../GenericAction/TrafficAreaAction.cpp | 18 +++++++++--
.../GenericAction/TrafficAreaAction.h | 6 ++--
.../GenericAction/TrafficSwarmAction_impl.cpp | 14 ++------
engine/src/Utils/ControllerCreator.cpp | 7 ++--
engine/src/Utils/ControllerCreator.h | 8 ++---
engine/src/Utils/Geometry.h | 28 ++++++++++++++++
engine/src/Utils/Spawning/SpawnSpace.h | 32 ++++++++-----------
7 files changed, 69 insertions(+), 44 deletions(-)
create mode 100644 engine/src/Utils/Geometry.h
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp b/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
index af2ab558..797aa3eb 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.cpp
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.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
@@ -20,6 +20,14 @@
namespace OpenScenarioEngine::v1_3
{
+mantle_api::IController& Interfaces<TrafficAreaAction>::operator()(mantle_api::IEntity& entity, const std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>>& controllers)
+{
+ ControllerRegistrar registrar{entity, entity.GetName(), controllers, *environment, environment->GetControllerRepository(), controller_service};
+ auto& controller{registrar.CreateDefaultController()};
+ registrar.CreateUserDefinedControllers(false);
+ return controller;
+}
+
void TrafficAreaAction::UpdateTrafficAreas()
{
trafficAreas = Transform(values.trafficArea, [this](const mantle_api::RoadRange& range)
@@ -49,7 +57,7 @@ bool TrafficAreaAction::Step()
SequentialSpawnSpace spawnSpace{trafficAreas, values.trafficDistributions};
while (values.numberOfEntities)
{
- if (!spawnSpace.Spawn(spawner, rng))
+ if (!spawnSpace.Spawn(spawner, mantle, rng))
{
return false;
}
@@ -72,7 +80,11 @@ yase::NodeStatus TrafficAreaAction::tick()
void TrafficAreaAction::lookupAndRegisterData(yase::Blackboard& blackboard)
{
auto environment = blackboard.get<std::shared_ptr<mantle_api::IEnvironment>>("Environment");
- std::shared_ptr<IControllerService> controller_service = blackboard.get<std::shared_ptr<IControllerService>>("ControllerService");
+ auto controller_service = std::dynamic_pointer_cast<ControllerService>(blackboard.get<std::shared_ptr<IControllerService>>("ControllerService"));
+ if (!controller_service)
+ {
+ throw std::runtime_error("TrafficAreaAction::lookupAndRegisterData: IControllerService not supported");
+ }
impl_ = std::make_unique<OpenScenarioEngine::v1_3::TrafficAreaAction>(
Values<OpenScenarioEngine::v1_3::TrafficAreaAction>{
diff --git a/engine/src/Storyboard/GenericAction/TrafficAreaAction.h b/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
index 13633df5..ddf6db21 100644
--- a/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
+++ b/engine/src/Storyboard/GenericAction/TrafficAreaAction.h
@@ -24,7 +24,7 @@
#include "Action.h"
#include "Conversion/OscToMantle/ConvertScenarioTrafficDistribution.h"
-#include "Utils/IControllerService.h"
+#include "Utils/ControllerService.h"
namespace OpenScenarioEngine::v1_3
{
@@ -43,9 +43,9 @@ template <>
struct Interfaces<TrafficAreaAction>
{
std::shared_ptr<mantle_api::IEnvironment> environment;
- std::shared_ptr<IControllerService> controller_service;
+ std::shared_ptr<ControllerService> controller_service;
- // void CreateController(mantle_api::IEntity& entity);
+ mantle_api::IController& operator()(mantle_api::IEntity& entity, const std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>>& controllers);
};
class TrafficAreaAction : public Action<TrafficAreaAction>
diff --git a/engine/src/Storyboard/GenericAction/TrafficSwarmAction_impl.cpp b/engine/src/Storyboard/GenericAction/TrafficSwarmAction_impl.cpp
index 16deb16a..228cb5a3 100644
--- a/engine/src/Storyboard/GenericAction/TrafficSwarmAction_impl.cpp
+++ b/engine/src/Storyboard/GenericAction/TrafficSwarmAction_impl.cpp
@@ -15,21 +15,11 @@
#include "MantleAPI/Traffic/i_traffic_swarm_service.h"
#include "Utils/Ellipse.h"
#include "Utils/EntityUtils.h"
+#include "Utils/Geometry.h"
namespace detail
{
constexpr units::length::meter_t ELLIPSE_DETECTION_TOLERANCE{1.0};
-
-mantle_api::Vec3<units::velocity::meters_per_second_t> GetVelocityVector(
- units::velocity::meters_per_second_t speed,
- const mantle_api::Orientation3<units::angle::radian_t>& orientation)
-{
- auto cos_elevation{units::math::cos(orientation.pitch)};
- return {speed * units::math::cos(orientation.yaw) * cos_elevation,
- speed * units::math::sin(orientation.yaw) * cos_elevation,
- speed * -units::math::sin(orientation.pitch)};
-}
-
} // namespace detail
namespace OpenScenarioEngine::v1_3
@@ -238,7 +228,7 @@ void TrafficSwarmAction::SpawnEntities()
auto& entity{mantle_.environment->GetEntityRepository().Create("traffic-swarm-entity-" + std::to_string(spawned_entities_count_ + 1), vehicle_properties)};
entity.SetPosition(spawning_pose.position);
entity.SetOrientation(spawning_pose.orientation);
- entity.SetVelocity(detail::GetVelocityVector(vehicle_speed, spawning_pose.orientation));
+ entity.SetVelocity(util::Rotate(vehicle_speed, spawning_pose.orientation));
const auto controller_configuration{GetControllerConfiguration()};
auto external_controller_config{std::make_unique<mantle_api::ExternalControllerConfig>(controller_configuration)};
diff --git a/engine/src/Utils/ControllerCreator.cpp b/engine/src/Utils/ControllerCreator.cpp
index 669a8875..96de78e2 100644
--- a/engine/src/Utils/ControllerCreator.cpp
+++ b/engine/src/Utils/ControllerCreator.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
@@ -162,7 +162,7 @@ void ControllerCreator::CreateControllers(const std::vector<std::shared_ptr<NET_
ControllerRegistrar::ControllerRegistrar(
mantle_api::IEntity& entity,
const std::string& entity_name,
- std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>>&& object_controllers,
+ std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>> object_controllers,
mantle_api::IEnvironment& environment,
mantle_api::IControllerRepository& controller_repository,
std::shared_ptr<ControllerService>& controller_service)
@@ -175,7 +175,7 @@ ControllerRegistrar::ControllerRegistrar(
{
}
-void ControllerRegistrar::CreateDefaultController()
+mantle_api::IController& ControllerRegistrar::CreateDefaultController()
{
Logger::Info("ControllerCreator: Setting up internal controller for entity \"" + entity_name_ + "\"");
@@ -186,6 +186,7 @@ void ControllerRegistrar::CreateDefaultController()
auto& controller = controller_repository_.Create(std::move(default_config));
controller.ChangeState(mantle_api::IController::LateralState::kActivate, mantle_api::IController::LongitudinalState::kActivate);
RegisterDefaultController(controller);
+ return controller;
}
void ControllerRegistrar::CreateUserDefinedControllers(bool control_override)
diff --git a/engine/src/Utils/ControllerCreator.h b/engine/src/Utils/ControllerCreator.h
index abdbff2a..4542cadd 100644
--- a/engine/src/Utils/ControllerCreator.h
+++ b/engine/src/Utils/ControllerCreator.h
@@ -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
@@ -50,12 +50,12 @@ public:
explicit ControllerRegistrar(
mantle_api::IEntity& entity,
const std::string& entity_name,
- std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>>&& object_controllers,
+ std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>> object_controllers,
mantle_api::IEnvironment& environment,
mantle_api::IControllerRepository& controller_repository,
std::shared_ptr<ControllerService>& controller_service);
- void CreateDefaultController();
+ mantle_api::IController& CreateDefaultController();
void CreateUserDefinedControllers(bool control_override);
private:
@@ -68,7 +68,7 @@ private:
const std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>> object_controllers_;
mantle_api::IEnvironment& environment_;
mantle_api::IControllerRepository& controller_repository_;
- std::shared_ptr<ControllerService>& controller_service_;
+ std::shared_ptr<ControllerService> controller_service_;
};
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Geometry.h b/engine/src/Utils/Geometry.h
new file mode 100644
index 00000000..5e3fd697
--- /dev/null
+++ b/engine/src/Utils/Geometry.h
@@ -0,0 +1,28 @@
+/********************************************************************************
+ * 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/orientation.h>
+#include <MantleAPI/Common/vector.h>
+#include <units.h>
+
+namespace util
+{
+template <typename Unit>
+constexpr mantle_api::Vec3<Unit> Rotate(
+ Unit magnitude,
+ const mantle_api::Orientation3<units::angle::radian_t>& orientation)
+{
+ auto cos_elevation{units::math::cos(orientation.pitch)};
+ return {magnitude * units::math::cos(orientation.yaw) * cos_elevation,
+ magnitude * units::math::sin(orientation.yaw) * cos_elevation,
+ magnitude * -units::math::sin(orientation.pitch)};
+}
+} // namespace util
diff --git a/engine/src/Utils/Spawning/SpawnSpace.h b/engine/src/Utils/Spawning/SpawnSpace.h
index 0c485089..ade5d282 100644
--- a/engine/src/Utils/Spawning/SpawnSpace.h
+++ b/engine/src/Utils/Spawning/SpawnSpace.h
@@ -13,7 +13,6 @@
#include <Stochastics/StochasticsInterface.h>
#include <units.h>
-#include <cassert>
#include <memory>
#include <set>
#include <utility>
@@ -24,6 +23,7 @@
#include "Length.h"
#include "SpawnSpot.h"
#include "SpawnZone.h"
+#include "Utils/Geometry.h"
#include "VelocityRange.h"
#include "Weighted.h"
@@ -55,9 +55,11 @@ struct SequentialSpawnSpace : SpawnSpace
/// If successful, also adjusts the spawn space's intervals.
///
/// \tparam EntityCreator Provides CreateEntity(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IScenarioObject> &)
+ /// \tparam AttachControllers Invocable taking (mantle_api::IEntity&, std::vector<std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IObjectController>>)
+ /// used to attach controllers to the spawned entity
/// \param StochasticsInterface Used to sample the entity and its velocity
- template <typename EntityCreator>
- bool Spawn(EntityCreator &&, StochasticsInterface &);
+ template <typename EntityCreator, typename AttachControllers>
+ bool Spawn(EntityCreator &&, AttachControllers &&, StochasticsInterface &);
std::tuple<std::vector<std::vector<std::vector<SpawnSpot>>>::iterator,
std::vector<std::vector<SpawnSpot>>::iterator,
@@ -65,7 +67,7 @@ struct SequentialSpawnSpace : SpawnSpace
Interval>
FindSpot(const Padding &, units::velocity::meters_per_second_t velocity, units::time::second_t timespan);
- // Stream -> vector<SpawnSpot>, thus Area = vector<vector<SpawnSpot>>, thus vector<Area> = vector<vector<vector<SpawnSpot>>>
+ // Stream = vector<SpawnSpot>, thus Area = vector<vector<SpawnSpot>>, thus vector<Area> = vector<vector<vector<SpawnSpot>>>
std::vector<std::vector<std::vector<SpawnSpot>>> spots;
const std::vector<mantle_api::TrafficArea> &areas;
};
@@ -124,8 +126,8 @@ void UpdateSpot(std::vector<OpenScenarioEngine::v1_3::SpawnSpot> &stream,
namespace OpenScenarioEngine::v1_3
{
-template <typename EntityCreator>
-bool SequentialSpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &rng)
+template <typename EntityCreator, typename AttachControllers>
+bool SequentialSpawnSpace::Spawn(EntityCreator &&spawner, AttachControllers &&attach_controllers, StochasticsInterface &rng)
{
using namespace units::literals;
@@ -149,9 +151,13 @@ bool SequentialSpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface &
const auto area{std::next(areas.begin(), std::distance(spots.begin(), spot_area))};
const auto &stream{*std::next(area->begin(), std::distance(spot_area->begin(), spot_stream))};
const mantle_api::Pose pose{stream->Convert(mantle_api::ITrafficAreaStream::StreamPose{{interval.max, {}}, {}}).value()};
- mantle_api::IEntity &object{spawner.CreateEntity(GetEntity(blueprint), "Common" + std::to_string(++i))};
+ std::string name{"Common" + std::to_string(++i)};
+ mantle_api::IEntity &object{spawner.CreateEntity(GetEntity(blueprint), name)};
+ object.SetName(name);
object.SetPosition(pose.position);
object.SetOrientation(pose.orientation);
+ object.SetVelocity(util::Rotate(spawn_velocity, pose.orientation));
+ attach_controllers(object, blueprint->GetObjectController());
const auto occupied_space{Interval{interval.max, interval.max}.OffsetBy(-padding.rear, padding.front)};
UpdateSpot(*spot_stream, spot, occupied_space, spawn_velocity);
return true;
@@ -180,16 +186,4 @@ bool DistributedSpawnSpace::Spawn(EntityCreator &&spawner, StochasticsInterface
// spot->zone->RemoveInterval(*interval->interval, sampler(restricted_velocity.min, restricted_velocity.max));
return true;
}
-
-// std::pair<const SpawnZones &, const SpawnZone &> SpawnSpace::SampleZone(units::dimensionless::scalar_t sample) const
-// {
-// assert(units::dimensionless::scalar_t{} <= sample && sample < units::dimensionless::scalar_t{1.0});
-// const units::length::meter_t weight{sample * weights.back()};
-// auto index{static_cast<size_t>(std::distance(weights.begin(), std::prev(std::upper_bound(std::next(weights.begin()), weights.end(), weight))))};
-// assert(index > 1);
-// const SpawnZones &zones{(*this)[index]};
-// const units::length::meter_t zone_weight{weight - weights[index]};
-// auto zone_index{static_cast<size_t>(std::distance(zones.lengths.begin(), std::prev(std::upper_bound(std::next(zones.lengths.begin()), zones.lengths.end(), zone_weight))))};
-// return {zones, zones[zone_index]};
-// }
} // namespace OpenScenarioEngine::v1_3
--
GitLab
From a4de93c092d359150378f5b471b0f51af59a2840 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Thu, 27 Mar 2025 09:15:12 +0100
Subject: [PATCH 23/26] Update MockVehicle to satisfy upadted mantle_api
---
.../tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp | 3 +++
1 file changed, 3 insertions(+)
diff --git a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
index 594ce5c7..32713524 100644
--- a/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
+++ b/engine/tests/Storyboard/GenericAction/TrafficAreaActionTest.cpp
@@ -73,6 +73,9 @@ struct MockVehicle : mantle_api::IVehicle
void SetIndicatorState(mantle_api::IndicatorState state) override {}
mantle_api::IndicatorState GetIndicatorState() const override { return {}; }
+ void SetSteeringWheelAngle(units::angle::radian_t) override{};
+ units::angle::radian_t GetSteeringWheelAngle() const override { return {}; }
+
mantle_api::Vec3<units::length::meter_t> xyz;
mantle_api::Orientation3<units::angle::radian_t> orientation;
};
--
GitLab
From 23b6d3459187042ce25fee67beddd75ef6bbf983 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Thu, 27 Mar 2025 15:36:31 +0100
Subject: [PATCH 24/26] Bump openscenario_api to v1.4.1
---
.../Storyboard/GenericAction/data/Scenarios/RoadNetwork.xodr | 0
utils/ci/conan/conanfile.txt | 2 +-
utils/ci/conan/recipe/openscenario_api/all/conandata.yml | 3 +++
utils/ci/conan/recipe/openscenario_api/all/conanfile.py | 5 -----
utils/ci/conan/recipe/openscenario_api/config.yml | 3 +++
5 files changed, 7 insertions(+), 6 deletions(-)
create mode 100644 engine/tests/Storyboard/GenericAction/data/Scenarios/RoadNetwork.xodr
diff --git a/engine/tests/Storyboard/GenericAction/data/Scenarios/RoadNetwork.xodr b/engine/tests/Storyboard/GenericAction/data/Scenarios/RoadNetwork.xodr
new file mode 100644
index 00000000..e69de29b
diff --git a/utils/ci/conan/conanfile.txt b/utils/ci/conan/conanfile.txt
index 7e405f78..f1302c20 100644
--- a/utils/ci/conan/conanfile.txt
+++ b/utils/ci/conan/conanfile.txt
@@ -1,6 +1,6 @@
[requires]
mantleapi/v11.0.0@openscenarioengine/testing
-openscenario_api/v1.4.0@openscenarioengine/testing
+openscenario_api/v1.4.1@openscenarioengine/testing
stochastics/0.11.0@openscenarioengine/testing
units/2.3.4@openscenarioengine/testing
yase/d0c0e58d17358044cc9018c74308b45f6097ecfb@openscenarioengine/testing
diff --git a/utils/ci/conan/recipe/openscenario_api/all/conandata.yml b/utils/ci/conan/recipe/openscenario_api/all/conandata.yml
index bc5c5031..7a09463a 100644
--- a/utils/ci/conan/recipe/openscenario_api/all/conandata.yml
+++ b/utils/ci/conan/recipe/openscenario_api/all/conandata.yml
@@ -13,6 +13,9 @@
################################################################################
sources:
+ "v1.4.1":
+ url: https://github.com/RA-Consulting-GmbH/openscenario.api.test.git
+ sha256: "a72820b00445714071d0e457afcc2112d6015c94"
"v1.4.0":
url: https://github.com/RA-Consulting-GmbH/openscenario.api.test.git
sha256: "5980e8806216351fc2d749c4bfa8669367531688"
diff --git a/utils/ci/conan/recipe/openscenario_api/all/conanfile.py b/utils/ci/conan/recipe/openscenario_api/all/conanfile.py
index 4e4482b5..258f1a89 100644
--- a/utils/ci/conan/recipe/openscenario_api/all/conanfile.py
+++ b/utils/ci/conan/recipe/openscenario_api/all/conanfile.py
@@ -55,11 +55,6 @@ class OpenScenarioApiConan(ConanFile):
self._repo_source = os.path.join(self.source_folder, self.name)
self._artifact_path = os.path.join(self._repo_source, "cpp", "buildArtifact")
apply_conandata_patches(self)
- replace_in_file(self,
- os.path.join(self._repo_source, "cpp/openScenarioLib/src/parser/modelgroup/XmlChoiceParser.cpp"),
- "if (currentOccurs < parser->GetMaxOccur())",
- "if (currentOccurs < parser->GetMaxOccur() || parser->GetMaxOccur() == -1)")
-
def build(self):
if self.settings.os == "Windows":
diff --git a/utils/ci/conan/recipe/openscenario_api/config.yml b/utils/ci/conan/recipe/openscenario_api/config.yml
index 2e807a23..1dbb91dd 100644
--- a/utils/ci/conan/recipe/openscenario_api/config.yml
+++ b/utils/ci/conan/recipe/openscenario_api/config.yml
@@ -21,3 +21,6 @@ versions:
"v1.4.0":
folder: "all"
+
+ "v1.4.1":
+ folder: "all"
--
GitLab
From 8e0f9dc6e76f485036cba284cf9e69b388aa4d13 Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Tue, 1 Apr 2025 17:19:42 +0200
Subject: [PATCH 25/26] Negation workaround for units v.2.3.1 compatibility
---
engine/src/Utils/Spawning/Interval.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/engine/src/Utils/Spawning/Interval.h b/engine/src/Utils/Spawning/Interval.h
index 762a5f83..ca4494d2 100644
--- a/engine/src/Utils/Spawning/Interval.h
+++ b/engine/src/Utils/Spawning/Interval.h
@@ -119,7 +119,7 @@ constexpr units::length::meter_t Padding::GetLength() const
constexpr Padding Padding::operator-() const
{
- return {-rear, -front};
+ return {units::length::meter_t{-rear()}, units::length::meter_t{-front()}};
}
constexpr units::length::meter_t Interval::GetLength() const
@@ -134,7 +134,7 @@ constexpr Interval Interval::GetIntersection(const Interval& other) const
constexpr Interval Interval::OffsetBy(Padding padding) const
{
- return OffsetBy(-padding.rear, padding.front);
+ return OffsetBy(-units::length::meter_t{padding.rear()}, padding.front);
}
constexpr Interval Interval::OffsetBy(Interval other) const
--
GitLab
From 6defbf83bde8e0ced3e0b0f8b344175d82554c5b Mon Sep 17 00:00:00 2001
From: Noah Schick <noah.schick@in-tech.com>
Date: Wed, 9 Apr 2025 18:04:10 +0200
Subject: [PATCH 26/26] Adapt to TrafficAreaStream change
---
.gitignore | 3 +-
engine/cmake/generated_files.cmake | 1 +
engine/src/Utils/EntityCreator.cpp | 1 +
engine/src/Utils/Spawning/Common.h | 20 +++++++++++++-
engine/src/Utils/Spawning/Obstacle.cpp | 17 ++++++++----
engine/src/Utils/Spawning/Obstacle.h | 5 ++--
engine/src/Utils/Spawning/ToEntity.cpp | 28 +++++++++++++++++++
engine/src/Utils/Spawning/ToEntity.h | 38 ++++++++++++++++++++++++++
8 files changed, 103 insertions(+), 10 deletions(-)
create mode 100644 engine/src/Utils/Spawning/ToEntity.cpp
create mode 100644 engine/src/Utils/Spawning/ToEntity.h
diff --git a/.gitignore b/.gitignore
index 0ef100c2..a31023a5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,5 +7,6 @@ generator.log
*.orig
*.bkp
.devcontainer
+compile_commands.json
build
-deps
\ No newline at end of file
+deps
diff --git a/engine/cmake/generated_files.cmake b/engine/cmake/generated_files.cmake
index 4750e194..fe7d9855 100644
--- a/engine/cmake/generated_files.cmake
+++ b/engine/cmake/generated_files.cmake
@@ -237,6 +237,7 @@ list(APPEND ${PROJECT_NAME}_SOURCES
src/Utils/Spawning/Obstacle.cpp
src/Utils/Spawning/SpawnSpace.cpp
src/Utils/Spawning/SpawnZone.cpp
+ src/Utils/Spawning/ToEntity.cpp
src/Utils/Spawning/VelocityRange.cpp
src/Utils/Spawning/Weight.cpp
src/Utils/Spawning/Weighted.cpp
diff --git a/engine/src/Utils/EntityCreator.cpp b/engine/src/Utils/EntityCreator.cpp
index 0176c046..52bf1447 100644
--- a/engine/src/Utils/EntityCreator.cpp
+++ b/engine/src/Utils/EntityCreator.cpp
@@ -13,6 +13,7 @@
#include <MantleAPI/Traffic/entity_properties.h>
#include <openScenarioLib/generated/v1_3/catalog/CatalogHelperV1_3.h>
+#include <units.h>
#include "Utils/Constants.h"
diff --git a/engine/src/Utils/Spawning/Common.h b/engine/src/Utils/Spawning/Common.h
index 4814e145..f424bc8a 100644
--- a/engine/src/Utils/Spawning/Common.h
+++ b/engine/src/Utils/Spawning/Common.h
@@ -23,7 +23,25 @@ namespace OpenScenarioEngine::v1_3
template <typename T>
bool is_uninitialized(const std::weak_ptr<T>& pointer)
{
- return !pointer.owner_before(std::weak_ptr<T>{}) && !std::weak_ptr<T>{}.owner_before(pointer);
+ return pointer.expired();
+}
+
+template <typename T>
+bool is_uninitialized(const std::shared_ptr<T>& pointer)
+{
+ return pointer == nullptr;
+}
+
+template <typename T>
+bool is_uninitialized(const std::unique_ptr<T>& pointer)
+{
+ return pointer == nullptr;
+}
+
+template <typename T>
+constexpr bool is_uninitialized(const T* pointer)
+{
+ return pointer == nullptr;
}
/// Functor returning the specified value when invoked.
diff --git a/engine/src/Utils/Spawning/Obstacle.cpp b/engine/src/Utils/Spawning/Obstacle.cpp
index fc2c97bd..84d750da 100644
--- a/engine/src/Utils/Spawning/Obstacle.cpp
+++ b/engine/src/Utils/Spawning/Obstacle.cpp
@@ -10,10 +10,15 @@
#include "Obstacle.h"
+#include "ToEntity.h"
+
namespace OpenScenarioEngine::v1_3
{
-Obstacle::Obstacle(Interval interval, const std::shared_ptr<mantle_api::IEntity>& entity, units::velocity::meters_per_second_t velocity)
- : Interval{std::move(interval)}, entity{entity}, velocity{velocity} {}
+template <typename Entity>
+Obstacle::Obstacle(Interval interval, Entity&& entity, units::velocity::meters_per_second_t velocity)
+ : Interval{std::move(interval)}, entity{&to_entity(std::forward<Entity>(entity))}, velocity{velocity}
+{
+}
Obstacle Obstacle::GetStartingSentinel(units::length::meter_t value)
{
@@ -25,7 +30,7 @@ Obstacle Obstacle::GetEndingSentinel(units::length::meter_t value)
return {{value, value}, nullptr, units::velocity::meters_per_second_t{std::numeric_limits<double>::max()}};
}
-Obstacle ToObstacle(const std::shared_ptr<mantle_api::IEntity>& entity, const mantle_api::ITrafficAreaStream& stream)
+Obstacle ToObstacle(const mantle_api::IEntity* entity, const mantle_api::ITrafficAreaStream& stream)
{
const auto halfLength{entity->GetProperties()->bounding_box.dimension.length / units::dimensionless::scalar_t{2.0}};
const auto offset{entity->GetProperties()->bounding_box.geometric_center.x};
@@ -42,12 +47,12 @@ std::set<Obstacle, Less<ToMin>> GetObstacles(const mantle_api::ITrafficAreaStrea
const units::length::meter_t max{stream.GetLength()};
while (min < max)
{
- std::weak_ptr<mantle_api::IEntity> pointer{stream.GetEntity(mantle_api::ITrafficAreaStream::SearchDirection::kDownstream, min, max - min)};
- if (is_uninitialized(pointer))
+ const mantle_api::IEntity* entity{stream.GetEntity(mantle_api::ITrafficAreaStream::SearchDirection::kDownstream, min, max - min)};
+ if (is_uninitialized(entity))
{
break;
}
- min = result.emplace(ToObstacle(pointer.lock(), stream)).first->max;
+ min = result.emplace(ToObstacle(entity, stream)).first->max;
}
return result;
}
diff --git a/engine/src/Utils/Spawning/Obstacle.h b/engine/src/Utils/Spawning/Obstacle.h
index 79dae2d1..df661464 100644
--- a/engine/src/Utils/Spawning/Obstacle.h
+++ b/engine/src/Utils/Spawning/Obstacle.h
@@ -18,13 +18,14 @@ namespace OpenScenarioEngine::v1_3
{
struct Obstacle : Interval
{
- Obstacle(Interval, const std::shared_ptr<mantle_api::IEntity>&, units::velocity::meters_per_second_t);
+ template <typename Entity>
+ Obstacle(Interval, Entity&&, units::velocity::meters_per_second_t);
static Obstacle GetStartingSentinel(units::length::meter_t);
static Obstacle GetEndingSentinel(units::length::meter_t);
- std::shared_ptr<mantle_api::IEntity> entity;
+ const mantle_api::IEntity* entity;
units::velocity::meters_per_second_t velocity;
};
diff --git a/engine/src/Utils/Spawning/ToEntity.cpp b/engine/src/Utils/Spawning/ToEntity.cpp
new file mode 100644
index 00000000..6b4a6349
--- /dev/null
+++ b/engine/src/Utils/Spawning/ToEntity.cpp
@@ -0,0 +1,28 @@
+/********************************************************************************
+ * 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 "ToEntity.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+const mantle_api::IEntity& ToEntity::operator()(const std::unique_ptr<mantle_api::IEntity>& input) const
+{
+ return (*this)(*input);
+}
+
+const mantle_api::IEntity& ToEntity::operator()(const std::shared_ptr<mantle_api::IEntity>& input) const
+{
+ return (*this)(*input);
+}
+
+const mantle_api::IEntity& ToEntity::operator()(const std::weak_ptr<mantle_api::IEntity>& input) const
+{
+ return (*this)(input.lock());
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/Spawning/ToEntity.h b/engine/src/Utils/Spawning/ToEntity.h
new file mode 100644
index 00000000..e6def0ba
--- /dev/null
+++ b/engine/src/Utils/Spawning/ToEntity.h
@@ -0,0 +1,38 @@
+/********************************************************************************
+ * 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/Traffic/i_entity.h>
+
+#include <memory>
+
+namespace OpenScenarioEngine::v1_3
+{
+struct ToEntity
+{
+ constexpr const mantle_api::IEntity& operator()(const mantle_api::IEntity&) const;
+ constexpr const mantle_api::IEntity& operator()(const mantle_api::IEntity*) const;
+ const mantle_api::IEntity& operator()(const std::unique_ptr<mantle_api::IEntity>&) const;
+ const mantle_api::IEntity& operator()(const std::shared_ptr<mantle_api::IEntity>&) const;
+ const mantle_api::IEntity& operator()(const std::weak_ptr<mantle_api::IEntity>&) const;
+};
+const ToEntity to_entity; // NOLINT(readability-identifier-naming)
+} // namespace OpenScenarioEngine::v1_3
+
+namespace OpenScenarioEngine::v1_3
+{
+constexpr const mantle_api::IEntity& ToEntity::operator()(const mantle_api::IEntity& input) const
+{
+ return input;
+}
+
+constexpr const mantle_api::IEntity& ToEntity::operator()(const mantle_api::IEntity* input) const
+{
+ return *input;
+}
+} // namespace OpenScenarioEngine::v1_3
--
GitLab