diff --git a/engine/cmake/generated_files.cmake b/engine/cmake/generated_files.cmake
index 6644cd17f76486878a73b74112c053f759d08b2b..4582b70e4dccc0d1401de8ab06a8ffbf70ccf40d 100644
--- a/engine/cmake/generated_files.cmake
+++ b/engine/cmake/generated_files.cmake
@@ -190,6 +190,7 @@ list(APPEND ${PROJECT_NAME}_SOURCES
src/Conversion/OscToNode/ParseStory.cpp
src/Conversion/OscToNode/ParseStoryboard.cpp
src/Conversion/OscToNode/ParseTrafficSignals.cpp
+ src/Node/ActNode.cpp
src/Node/ByEntityConditionNode.cpp
src/Node/ConditionGroupsNode.cpp
src/Node/ConditionNode.cpp
@@ -242,6 +243,7 @@ list(APPEND ${PROJECT_NAME}_SOURCES
src/Utils/EntityUtils.cpp
src/Utils/EventPrioritizer.cpp
src/Utils/Logger.cpp
+ src/Utils/StoryBoardElementStateManager.cpp
src/Utils/TrafficSignalBuilder.cpp
)
@@ -570,6 +572,7 @@ list(APPEND ${PROJECT_NAME}_HEADERS
src/Node/PrivateNode.h
src/Node/RepeatingSequenceNode.h
src/Node/RootNode.h
+ src/Node/StateAwareActionNode.h
src/Node/StoryboardNode.h
src/Node/TrafficSignalPhaseNode.h
src/Node/TriggerableCompositeNode.h
@@ -610,5 +613,9 @@ list(APPEND ${PROJECT_NAME}_HEADERS
src/Utils/IControllerService.h
src/Utils/IEventPrioritizer.h
src/Utils/Logger.h
+ src/Utils/StoryBoardElementState.h
+ src/Utils/StoryBoardElementStateManager.h
+ src/Utils/StoryBoardElementTransition.h
+ src/Utils/StoryBoardElementType.h
src/Utils/TrafficSignalBuilder.h
)
diff --git a/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition.h b/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition.h
index 37d3519f392a1765eb80911cbf2d66c7b79eab3f..fcb081f7221c876e6f319310cbfd46b6405e7764 100644
--- a/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition.h
+++ b/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition.h
@@ -17,6 +17,7 @@
#include <utility>
#include "Storyboard/ByValueCondition/StoryboardElementStateCondition_impl.h"
+#include "Utils/StoryBoardElementStateManager.h"
namespace OpenScenarioEngine::v1_3::Node
{
@@ -41,12 +42,15 @@ private:
void lookupAndRegisterData(yase::Blackboard& blackboard) final
{
auto environment = blackboard.get<std::shared_ptr<mantle_api::IEnvironment>>("Environment");
-
+ auto story_board_element_state_manager = blackboard.get<std::shared_ptr<StoryBoardElementStateManager>>("StoryBoardElementStateManager");
impl_ = std::make_unique<OpenScenarioEngine::v1_3::StoryboardElementStateCondition>(
OpenScenarioEngine::v1_3::StoryboardElementStateCondition::Values{
- ConvertScenarioStoryboardElement(storyboardElementStateCondition_->GetStoryboardElementRef())},
+ ConvertScenarioStoryboardElementState(storyboardElementStateCondition_->GetState()),
+ ConvertScenarioStoryboardElementTransition(storyboardElementStateCondition_->GetState()),
+ ConvertScenarioStoryboardElement(storyboardElementStateCondition_->GetStoryboardElementRef()),
+ ConvertScenarioStoryboardElement(storyboardElementStateCondition_->GetStoryboardElementType())},
OpenScenarioEngine::v1_3::StoryboardElementStateCondition::Interfaces{
- environment});
+ environment, story_board_element_state_manager});
}
std::unique_ptr<OpenScenarioEngine::v1_3::StoryboardElementStateCondition> impl_{nullptr};
diff --git a/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition_impl.cpp b/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition_impl.cpp
index 0105b20652ca453f78a8304313ff2169797dd33c..c1098eb3c5906da04957de67495b3910c13151d9 100644
--- a/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition_impl.cpp
+++ b/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition_impl.cpp
@@ -17,11 +17,12 @@ namespace OpenScenarioEngine::v1_3
bool StoryboardElementStateCondition::IsSatisfied() const
{
- // Note:
- // - Access to values parse to mantle/ose datatypes: this->values.xxx
- // - Access to mantle interfaces: this->mantle.xxx
- Logger::Error("Method StoryboardElementStateCondition::IsSatisfied() not implemented yet (returning \"true\" by default)");
- return true;
+ const auto& manager = mantle.story_board_element_state_manager;
+ const auto state_opt = manager->GetState(values.storyboardElementRef, values.storyboardElementType);
+ const auto transition_opt = manager->GetTransition(values.storyboardElementRef, values.storyboardElementType);
+
+ return (state_opt && *state_opt == values.state) ||
+ (transition_opt && *transition_opt == values.transition);
}
} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition_impl.h b/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition_impl.h
index 9c5d42434428a5778274e719a16f8d4688026844..6f75ab1557fdab50aed5e3d30693146e27d49d4b 100644
--- a/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition_impl.h
+++ b/engine/gen/Storyboard/ByValueCondition/StoryboardElementStateCondition_impl.h
@@ -13,6 +13,7 @@
#include <MantleAPI/Execution/i_environment.h>
#include "Conversion/OscToMantle/ConvertScenarioStoryboardElement.h"
+#include "Utils/StoryBoardElementStateManager.h"
namespace OpenScenarioEngine::v1_3
{
@@ -22,11 +23,15 @@ class StoryboardElementStateCondition
public:
struct Values
{
+ StoryBoardElementState state;
+ StoryBoardElementTransition transition;
StoryboardElement storyboardElementRef;
+ StoryBoardElementType storyboardElementType;
};
struct Interfaces
{
std::shared_ptr<mantle_api::IEnvironment> environment;
+ std::shared_ptr<StoryBoardElementStateManager> story_board_element_state_manager;
};
StoryboardElementStateCondition(Values values, Interfaces interfaces)
@@ -40,4 +45,4 @@ private:
Interfaces mantle;
};
-} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/gen/Storyboard/MotionControlAction/SpeedAction.h b/engine/gen/Storyboard/MotionControlAction/SpeedAction.h
index b866ac69ac2213a115e916850d2894b2cc766d93..95a9f4c1cb11d020003d88f443d3faaaabe295c3 100644
--- a/engine/gen/Storyboard/MotionControlAction/SpeedAction.h
+++ b/engine/gen/Storyboard/MotionControlAction/SpeedAction.h
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * 2025 Ansys, Inc.
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -16,33 +17,33 @@
#include <cassert>
#include <utility>
+#include "Node/StateAwareActionNode.h"
#include "Storyboard/MotionControlAction/MotionControlAction.h"
#include "Storyboard/MotionControlAction/SpeedAction_impl.h"
#include "Utils/EntityBroker.h"
+#include "Utils/StoryBoardElementStateManager.h"
namespace OpenScenarioEngine::v1_3::Node
{
-class SpeedAction : public yase::ActionNode
+class SpeedAction : public StateAwareActionNode
{
public:
- SpeedAction(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ISpeedAction> speedAction)
- : yase::ActionNode{"SpeedAction"},
- speedAction_{speedAction}
+ explicit SpeedAction(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ISpeedAction> speedAction)
+ : StateAwareActionNode("SpeedAction", [this]()
+ {
+ assert(impl_);
+ return impl_->Step(); }),
+ speedAction_{std::move(speedAction)}
{
}
void onInit() override{};
private:
- yase::NodeStatus tick() override
+ void lookupAndRegisterData(yase::Blackboard& blackboard) override
{
- assert(impl_);
- const auto is_finished = impl_->Step();
- return is_finished ? yase::NodeStatus::kSuccess : yase::NodeStatus::kRunning;
- };
+ StateAwareActionNode::lookupAndRegisterData(blackboard);
- void lookupAndRegisterData(yase::Blackboard& blackboard) final
- {
auto environment = blackboard.get<std::shared_ptr<mantle_api::IEnvironment>>("Environment");
const auto entityBroker = blackboard.get<EntityBroker::Ptr>("EntityBroker");
@@ -51,12 +52,14 @@ private:
entityBroker->GetEntities(),
ConvertScenarioTransitionDynamics(speedAction_->GetSpeedActionDynamics()),
[=]()
- { return ConvertScenarioSpeedActionTarget(environment, speedAction_->GetSpeedActionTarget()); }},
+ {
+ return ConvertScenarioSpeedActionTarget(environment, speedAction_->GetSpeedActionTarget());
+ }},
OpenScenarioEngine::v1_3::SpeedAction::Interfaces{
environment});
}
- std::unique_ptr<OpenScenarioEngine::v1_3::MotionControlAction<OpenScenarioEngine::v1_3::SpeedAction>> impl_{nullptr};
+ std::unique_ptr<OpenScenarioEngine::v1_3::MotionControlAction<OpenScenarioEngine::v1_3::SpeedAction>> impl_;
std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ISpeedAction> speedAction_;
};
diff --git a/engine/src/Conversion/OscToMantle/ConvertScenarioStoryboardElement.h b/engine/src/Conversion/OscToMantle/ConvertScenarioStoryboardElement.h
index bb965a11fea4667da84215396925574636ffc8ca..7925025379d4ca17130a656d330ccd089fb4926b 100644
--- a/engine/src/Conversion/OscToMantle/ConvertScenarioStoryboardElement.h
+++ b/engine/src/Conversion/OscToMantle/ConvertScenarioStoryboardElement.h
@@ -16,8 +16,13 @@
#include <memory>
#include <string>
+#include "Utils/StoryBoardElementState.h"
+#include "Utils/StoryBoardElementTransition.h"
+#include "Utils/StoryBoardElementType.h"
+
namespace OpenScenarioEngine::v1_3
{
+
using StoryboardElement = std::string;
inline StoryboardElement ConvertScenarioStoryboardElement(const std::shared_ptr<NET_ASAM_OPENSCENARIO::INamedReference<NET_ASAM_OPENSCENARIO::v1_3::IStoryboardElement>>& storyboardElement)
@@ -25,9 +30,83 @@ inline StoryboardElement ConvertScenarioStoryboardElement(const std::shared_ptr<
return storyboardElement->GetNameRef();
}
-inline StoryboardElement ConvertScenarioStoryboardElement(const std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IStoryboardElement>& /*storyboardElement*/)
+inline StoryBoardElementType ConvertScenarioStoryboardElement(
+ const NET_ASAM_OPENSCENARIO::v1_3::StoryboardElementType& type)
+{
+ using SourceType = NET_ASAM_OPENSCENARIO::v1_3::StoryboardElementType::StoryboardElementTypeEnum;
+
+ if (type == SourceType::ACT)
+ {
+ return StoryBoardElementType::kAct;
+ }
+ if (type == SourceType::ACTION)
+ {
+ return StoryBoardElementType::kAction;
+ }
+ if (type == SourceType::EVENT)
+ {
+ return StoryBoardElementType::kEvent;
+ }
+ if (type == SourceType::MANEUVER)
+ {
+ return StoryBoardElementType::kManeuver;
+ }
+ if (type == SourceType::MANEUVER_GROUP)
+ {
+ return StoryBoardElementType::kManeuverGroup;
+ }
+ if (type == SourceType::STORY)
+ {
+ return StoryBoardElementType::kStory;
+ }
+
+ throw std::runtime_error("ConvertScenarioStoryBoardElement: Unsupported Element Type");
+}
+
+inline StoryBoardElementState ConvertScenarioStoryboardElementState(
+ const NET_ASAM_OPENSCENARIO::v1_3::StoryboardElementState& state)
{
- return {};
+ using SourceState = NET_ASAM_OPENSCENARIO::v1_3::StoryboardElementState::StoryboardElementStateEnum;
+
+ if (state == SourceState::COMPLETE_STATE)
+ {
+ return StoryBoardElementState::kCompleteState;
+ }
+ if (state == SourceState::RUNNING_STATE)
+ {
+ return StoryBoardElementState::kRunningState;
+ }
+ if (state == SourceState::STANDBY_STATE)
+ {
+ return StoryBoardElementState::kStandbyState;
+ }
+
+ return StoryBoardElementState::kUnknown;
+}
+
+inline StoryBoardElementTransition ConvertScenarioStoryboardElementTransition(
+ const NET_ASAM_OPENSCENARIO::v1_3::StoryboardElementState& state)
+{
+ using SourceState = NET_ASAM_OPENSCENARIO::v1_3::StoryboardElementState::StoryboardElementStateEnum;
+
+ if (state == SourceState::END_TRANSITION)
+ {
+ return StoryBoardElementTransition::kEndTransition;
+ }
+ if (state == SourceState::SKIP_TRANSITION)
+ {
+ return StoryBoardElementTransition::kSkipTransition;
+ }
+ if (state == SourceState::START_TRANSITION)
+ {
+ return StoryBoardElementTransition::kStartTransition;
+ }
+ if (state == SourceState::STOP_TRANSITION)
+ {
+ return StoryBoardElementTransition::kStopTransition;
+ }
+
+ return StoryBoardElementTransition::kUnknown;
}
-} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Node/ActNode.cpp b/engine/src/Node/ActNode.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4b33e9cef1c4a557ad2093e21ce6201c4e936ff8
--- /dev/null
+++ b/engine/src/Node/ActNode.cpp
@@ -0,0 +1,66 @@
+/*******************************************************************************
+ * Copyright (c) 2025 Ansys, Inc.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#include "Node/ActNode.h"
+
+namespace OpenScenarioEngine::v1_3::Node
+{
+
+ActNode::ActNode(const std::string& name,
+ yase::BehaviorNode::Ptr maneuver_groups,
+ yase::BehaviorNode::Ptr start_trigger,
+ yase::BehaviorNode::Ptr stop_trigger)
+ : TriggerableCompositeNode{name}, start_trigger_(start_trigger), stop_trigger_(stop_trigger)
+{
+ set(std::move(maneuver_groups), StopTriggerPtr{std::move(stop_trigger)}, StartTriggerPtr{std::move(start_trigger)});
+}
+
+void ActNode::lookupAndRegisterData(yase::Blackboard& blackboard)
+{
+ story_board_element_state_manager_ = blackboard.get<std::shared_ptr<OpenScenarioEngine::v1_3::StoryBoardElementStateManager>>("StoryBoardElementStateManager");
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kAct, StoryBoardElementState::kStandbyState);
+}
+
+yase::NodeStatus ActNode::tick()
+{
+ // reset transition to unknown in every tick
+ story_board_element_state_manager_->ResetTransition(getOriginalName(), StoryBoardElementType::kAct);
+
+ auto current_status = TriggerableCompositeNode::tick();
+
+ if (start_trigger_ == nullptr || start_trigger_->status() == yase::NodeStatus::kSuccess)
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kAct, StoryBoardElementTransition::kStartTransition);
+ }
+ if (stop_trigger_ != nullptr && stop_trigger_->status() == yase::NodeStatus::kSuccess)
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kAct, StoryBoardElementTransition::kStopTransition);
+ }
+
+ if (current_status == yase::NodeStatus::kSuccess)
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kAct, StoryBoardElementTransition::kEndTransition);
+ // Since maximumExecutionCount is not supported, after status is kSuccess, the state will be updated to kCompleteState rather that kStandbyState.
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kAct, StoryBoardElementState::kCompleteState);
+ }
+ else if (current_status == yase::NodeStatus::kRunning)
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kAct, StoryBoardElementState::kRunningState);
+ }
+ else
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kAct, StoryBoardElementTransition::kUnknown);
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kAct, StoryBoardElementState::kUnknown);
+ }
+
+ return current_status;
+}
+
+} // namespace OpenScenarioEngine::v1_3::Node
diff --git a/engine/src/Node/ActNode.h b/engine/src/Node/ActNode.h
index 7ec0683a31c853c0a8171c9aca05c5ee8eff90bc..ac8c7ddaf4e8c7f51de2214f071070bd632bb88c 100644
--- a/engine/src/Node/ActNode.h
+++ b/engine/src/Node/ActNode.h
@@ -1,6 +1,7 @@
/********************************************************************************
* Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
* 2021 Max Paul Bauer - Robert Bosch GmbH
+ * 2025 Ansys, Inc.
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -14,6 +15,7 @@
#include <utility>
#include "Node/TriggerableCompositeNode.h"
+#include "Utils/StoryBoardElementStateManager.h"
namespace OpenScenarioEngine::v1_3::Node
{
@@ -23,11 +25,16 @@ public:
ActNode(const std::string& name,
yase::BehaviorNode::Ptr maneuver_groups,
yase::BehaviorNode::Ptr start_trigger = nullptr,
- yase::BehaviorNode::Ptr stop_trigger = nullptr)
- : TriggerableCompositeNode{name}
- {
- set(std::move(maneuver_groups), StopTriggerPtr{std::move(stop_trigger)}, StartTriggerPtr{std::move(start_trigger)});
- }
+ yase::BehaviorNode::Ptr stop_trigger = nullptr);
+
+ void lookupAndRegisterData(yase::Blackboard& blackboard) override;
+
+ yase::NodeStatus tick() override;
+
+private:
+ yase::BehaviorNode::Ptr start_trigger_;
+ yase::BehaviorNode::Ptr stop_trigger_;
+ std::shared_ptr<StoryBoardElementStateManager> story_board_element_state_manager_;
};
-} // namespace OpenScenarioEngine::v1_3::Node
\ No newline at end of file
+} // namespace OpenScenarioEngine::v1_3::Node
diff --git a/engine/src/Node/EventNode.cpp b/engine/src/Node/EventNode.cpp
index 532f5765a23e6713115eded5fd38c5910cc64ccf..e14e52291468afdba81750ec4b15e492b437e6b0 100644
--- a/engine/src/Node/EventNode.cpp
+++ b/engine/src/Node/EventNode.cpp
@@ -25,14 +25,28 @@ EventNode::EventNode(const std::string& name,
void EventNode::lookupAndRegisterData(yase::Blackboard& blackboard)
{
- event_prioritizer_ = blackboard.get<std::shared_ptr<OpenScenarioEngine::v1_3::IEventPrioritizer> >("EventPrioritizer");
+ event_prioritizer_ = blackboard.get<std::shared_ptr<OpenScenarioEngine::v1_3::IEventPrioritizer>>("EventPrioritizer");
event_prioritizer_->RegisterEvent(name(), event_priority_);
+ story_board_element_state_manager_ = blackboard.get<std::shared_ptr<OpenScenarioEngine::v1_3::StoryBoardElementStateManager>>("StoryBoardElementStateManager");
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kEvent, StoryBoardElementState::kStandbyState);
}
yase::NodeStatus EventNode::tick()
{
- if (event_prioritizer_->ShouldStopChild(name()) || event_prioritizer_->ShouldSkipChild(name()))
+ // reset transition to unknown in every tick
+ story_board_element_state_manager_->ResetTransition(getOriginalName(), StoryBoardElementType::kEvent);
+
+ if (event_prioritizer_->ShouldStopChild(name()))
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kEvent, StoryBoardElementTransition::kStopTransition);
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kEvent, StoryBoardElementState::kCompleteState);
+ return yase::NodeStatus::kSuccess;
+ }
+
+ if (event_prioritizer_->ShouldSkipChild(name()))
{
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kEvent, StoryBoardElementTransition::kSkipTransition);
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kEvent, StoryBoardElementState::kStandbyState);
return yase::NodeStatus::kSuccess;
}
@@ -40,9 +54,26 @@ yase::NodeStatus EventNode::tick()
if (start_trigger_ == nullptr || start_trigger_->status() == yase::NodeStatus::kSuccess)
{
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kEvent, StoryBoardElementTransition::kStartTransition);
event_prioritizer_->EventStarted(name());
}
+ if (current_status == yase::NodeStatus::kSuccess)
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kEvent, StoryBoardElementTransition::kEndTransition);
+ // Since maximumExecutionCount is not supported, after status is kSuccess, the state will be updated to kCompleteState rather that kStandbyState.
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kEvent, StoryBoardElementState::kCompleteState);
+ }
+ else if (current_status == yase::NodeStatus::kRunning)
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kEvent, StoryBoardElementState::kRunningState);
+ }
+ else
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kEvent, StoryBoardElementTransition::kUnknown);
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kEvent, StoryBoardElementState::kUnknown);
+ }
+
return current_status;
}
diff --git a/engine/src/Node/EventNode.h b/engine/src/Node/EventNode.h
index 2ea9f955bb194b9385ad3214e52370702fd631f7..4aac076cacabfa0405ec29513274ba55cf04f536 100644
--- a/engine/src/Node/EventNode.h
+++ b/engine/src/Node/EventNode.h
@@ -15,6 +15,7 @@
#include "Node/TriggerableCompositeNode.h"
#include "Utils/EventPriority.h"
#include "Utils/IEventPrioritizer.h"
+#include "Utils/StoryBoardElementStateManager.h"
namespace OpenScenarioEngine::v1_3::Node
{
@@ -42,6 +43,7 @@ private:
EventPriority event_priority_;
yase::BehaviorNode::Ptr start_trigger_;
std::shared_ptr<IEventPrioritizer> event_prioritizer_;
+ std::shared_ptr<StoryBoardElementStateManager> story_board_element_state_manager_;
};
} // namespace OpenScenarioEngine::v1_3::Node
diff --git a/engine/src/Node/ManeuverNode.cpp b/engine/src/Node/ManeuverNode.cpp
index 30f70cb523c3f555714301d9b32f16226056438b..0398e046ebc5170742d9f59d4d37d027afc0629f 100644
--- a/engine/src/Node/ManeuverNode.cpp
+++ b/engine/src/Node/ManeuverNode.cpp
@@ -15,19 +15,44 @@
namespace OpenScenarioEngine::v1_3::Node
{
ManeuverNode::ManeuverNode(const std::string& name)
- : yase::DecoratorNode{name}, eventPrioritizer_{std::make_shared<EventPrioritizer>()}
+ : yase::DecoratorNode{name}, eventPrioritizer_{std::make_shared<EventPrioritizer>()}, original_name_(name)
{
}
+const std::string& ManeuverNode::getOriginalName() const
+{
+ return original_name_;
+}
+
yase::NodeStatus ManeuverNode::tick()
{
eventPrioritizer_->UpdateOverriddenEvents();
- return child().executeTick();
+
+ auto current_status = child().executeTick();
+
+ if (current_status == yase::NodeStatus::kSuccess)
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kManeuver, StoryBoardElementTransition::kEndTransition);
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kManeuver, StoryBoardElementState::kCompleteState);
+ }
+ else if (current_status == yase::NodeStatus::kRunning)
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kManeuver, StoryBoardElementState::kRunningState);
+ }
+ else
+ {
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kManeuver, StoryBoardElementTransition::kUnknown);
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kManeuver, StoryBoardElementState::kUnknown);
+ }
+
+ return current_status;
}
-void ManeuverNode::lookupAndRegisterData(yase::Blackboard &blackboard)
+void ManeuverNode::lookupAndRegisterData(yase::Blackboard& blackboard)
{
blackboard.set("EventPrioritizer", eventPrioritizer_);
+ story_board_element_state_manager_ = blackboard.get<std::shared_ptr<OpenScenarioEngine::v1_3::StoryBoardElementStateManager>>("StoryBoardElementStateManager");
+ story_board_element_state_manager_->Update(getOriginalName(), StoryBoardElementType::kManeuverGroup, StoryBoardElementState::kStandbyState);
}
} // namespace OpenScenarioEngine::v1_3::Node
diff --git a/engine/src/Node/ManeuverNode.h b/engine/src/Node/ManeuverNode.h
index 9fbadfab283e5580f06a6742eebcf8d3924c99e2..0e6855a8a5091327e130cd5ad30eb645e02b1d69 100644
--- a/engine/src/Node/ManeuverNode.h
+++ b/engine/src/Node/ManeuverNode.h
@@ -12,6 +12,8 @@
#include <agnostic_behavior_tree/decorator_node.h>
+#include "Utils/StoryBoardElementStateManager.h"
+
namespace OpenScenarioEngine::v1_3
{
class IEventPrioritizer;
@@ -28,11 +30,15 @@ public:
/// @param name Name of the maneuver node
explicit ManeuverNode(const std::string& name);
+ [[nodiscard]] const std::string& getOriginalName() const;
+
private:
void lookupAndRegisterData(yase::Blackboard& blackboard) override;
yase::NodeStatus tick() final;
std::shared_ptr<IEventPrioritizer> eventPrioritizer_;
+ std::shared_ptr<StoryBoardElementStateManager> story_board_element_state_manager_;
+ std::string original_name_;
};
} // namespace Node
diff --git a/engine/src/Node/RootNode.cpp b/engine/src/Node/RootNode.cpp
index ae0a474b6eaae26360dcc10ddb1ef71723956bd8..fc22221fc45158555919455bb7efe5dfffa43e94 100644
--- a/engine/src/Node/RootNode.cpp
+++ b/engine/src/Node/RootNode.cpp
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * 2025 Ansys, Inc.
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -25,7 +26,8 @@ RootNode::RootNode(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IScenarioDefinit
environment_{environment},
controller_service_{controller_service},
stochastics_{stochastics},
- engine_abort_flags_{engine_abort_flags}
+ engine_abort_flags_{engine_abort_flags},
+ story_board_element_state_manager_{std::make_shared<StoryBoardElementStateManager>()}
{
if (auto storyboard = scenarioDefinition->GetStoryboard(); storyboard)
{
@@ -44,6 +46,7 @@ void RootNode::lookupAndRegisterData(yase::Blackboard& blackboard)
blackboard.set("ControllerService", controller_service_);
blackboard.set("Stochastics", stochastics_);
blackboard.set("EngineAbortFlags", engine_abort_flags_);
+ blackboard.set("StoryBoardElementStateManager", story_board_element_state_manager_);
}
} // namespace OpenScenarioEngine::v1_3::Node
diff --git a/engine/src/Node/RootNode.h b/engine/src/Node/RootNode.h
index 9b4b7e65888ddb63c1dc31f2aae1a1a64267cbb5..91e76da3c32b7d969b40007e8cc2089f0c687aa1 100644
--- a/engine/src/Node/RootNode.h
+++ b/engine/src/Node/RootNode.h
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * 2025 Ansys, Inc.
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -15,9 +16,9 @@
#include <memory>
-#include "Utils/EngineAbortFlags.h"
#include "Stochastics/StochasticsInterface.h"
-
+#include "Utils/EngineAbortFlags.h"
+#include "Utils/StoryBoardElementStateManager.h"
namespace OpenScenarioEngine::v1_3
{
@@ -45,8 +46,9 @@ private:
std::shared_ptr<IControllerService> controller_service_;
std::shared_ptr<StochasticsInterface> stochastics_;
std::shared_ptr<EngineAbortFlags> engine_abort_flags_;
+ std::shared_ptr<StoryBoardElementStateManager> story_board_element_state_manager_;
};
} // namespace Node
-} // namespace OpenScenarioEngine::v1_3
\ No newline at end of file
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Node/StateAwareActionNode.h b/engine/src/Node/StateAwareActionNode.h
new file mode 100644
index 0000000000000000000000000000000000000000..7c2834f1cac42dfb2bdea215795709441e504e3b
--- /dev/null
+++ b/engine/src/Node/StateAwareActionNode.h
@@ -0,0 +1,56 @@
+/********************************************************************************
+ * Copyright (c) 2025 Ansys, Inc.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#pragma once
+
+#include <agnostic_behavior_tree/action_node.h>
+
+#include "Utils/StoryBoardElementStateManager.h"
+
+namespace OpenScenarioEngine::v1_3::Node
+{
+
+using ImplStepFunction = std::function<bool()>;
+
+class StateAwareActionNode : public yase::ActionNode
+{
+public:
+ StateAwareActionNode(const std::string& name, ImplStepFunction step_fn)
+ : yase::ActionNode{name}, step_fn_{std::move(step_fn)} {}
+
+ yase::NodeStatus tick() override
+ {
+ const bool is_finished = step_fn_();
+
+ if (is_finished)
+ {
+ state_manager_->Update(name(), type_, StoryBoardElementTransition::kEndTransition);
+ state_manager_->Update(name(), type_, StoryBoardElementState::kCompleteState);
+ return yase::NodeStatus::kSuccess;
+ }
+
+ state_manager_->Update(name(), type_, StoryBoardElementState::kRunningState);
+ return yase::NodeStatus::kRunning;
+ }
+
+ void lookupAndRegisterData(yase::Blackboard& blackboard) override
+ {
+ state_manager_ = blackboard.get<std::shared_ptr<StoryBoardElementStateManager>>("StoryBoardElementStateManager");
+ state_manager_->Update(name(), type_, StoryBoardElementState::kStandbyState);
+ }
+
+protected:
+ StoryBoardElementType type_{StoryBoardElementType::kAction};
+
+private:
+ ImplStepFunction step_fn_;
+ std::shared_ptr<StoryBoardElementStateManager> state_manager_;
+};
+} // namespace OpenScenarioEngine::v1_3::Node
diff --git a/engine/src/Node/TriggerableCompositeNode.h b/engine/src/Node/TriggerableCompositeNode.h
index 5f932de2b5a43f3a8bc14efa981141e7001deefb..e4c1c11234325ef193eb4b2e536151aec9e3bc3f 100644
--- a/engine/src/Node/TriggerableCompositeNode.h
+++ b/engine/src/Node/TriggerableCompositeNode.h
@@ -1,6 +1,7 @@
/********************************************************************************
* Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
* 2021 Max Paul Bauer - Robert Bosch GmbH
+ * 2025 Ansys, Inc.
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -111,7 +112,7 @@ class TriggerableCompositeNode : public yase::CompositeNode
{
public:
explicit TriggerableCompositeNode(const std::string& name)
- : CompositeNode{name} {};
+ : CompositeNode{name}, original_name_(name){};
~TriggerableCompositeNode() override = default;
void onInit() override
@@ -150,6 +151,8 @@ public:
}
}
+ [[nodiscard]] const std::string& getOriginalName() const { return original_name_; }
+
protected:
using yase::CompositeNode::addChild;
@@ -265,6 +268,7 @@ private:
TransientNode::Ptr m_child_node{nullptr};
TransientNode::Ptr stop_trigger_node_{nullptr};
yase::NodeStatus stop_trigger_status_{yase::NodeStatus::kIdle};
+ std::string original_name_;
};
-} // namespace OpenScenarioEngine::v1_3::Node
\ No newline at end of file
+} // namespace OpenScenarioEngine::v1_3::Node
diff --git a/engine/src/Storyboard/MotionControlAction/LongitudinalDistanceAction.h b/engine/src/Storyboard/MotionControlAction/LongitudinalDistanceAction.h
index 67f7bcf1be1f97a3b0567f7f87f46368abf4c592..0adcd69c735cae57e568e35f068c44eeeb09121e 100644
--- a/engine/src/Storyboard/MotionControlAction/LongitudinalDistanceAction.h
+++ b/engine/src/Storyboard/MotionControlAction/LongitudinalDistanceAction.h
@@ -1,5 +1,6 @@
/********************************************************************************
* Copyright (c) 2021-2024 Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+ * 2025 Ansys, Inc.
*
* This program and the accompanying materials are made available under the
* terms of the Eclipse Public License 2.0 which is available at
@@ -16,17 +17,22 @@
#include <cassert>
#include <utility>
+#include "Node/StateAwareActionNode.h"
#include "Storyboard/MotionControlAction/LongitudinalDistanceAction_impl.h"
#include "Storyboard/MotionControlAction/MotionControlAction.h"
#include "Utils/EntityBroker.h"
+#include "Utils/StoryBoardElementStateManager.h"
namespace OpenScenarioEngine::v1_3::Node
{
-class LongitudinalDistanceAction : public yase::ActionNode
+class LongitudinalDistanceAction : public StateAwareActionNode
{
public:
explicit LongitudinalDistanceAction(std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ILongitudinalDistanceAction> longitudinalDistanceAction)
- : yase::ActionNode{"LongitudinalDistanceAction"},
+ : StateAwareActionNode("LongitudinalDistanceAction", [this]()
+ {
+ assert(impl_);
+ return impl_->Step(); }),
longitudinalDistanceAction_{std::move(longitudinalDistanceAction)}
{
}
@@ -34,15 +40,10 @@ public:
void onInit() override{};
private:
- yase::NodeStatus tick() override
+ void lookupAndRegisterData(yase::Blackboard& blackboard) override
{
- assert(impl_);
- const auto is_finished = impl_->Step();
- return is_finished ? yase::NodeStatus::kSuccess : yase::NodeStatus::kRunning;
- };
+ StateAwareActionNode::lookupAndRegisterData(blackboard);
- void lookupAndRegisterData(yase::Blackboard& blackboard) final
- {
auto environment = blackboard.get<std::shared_ptr<mantle_api::IEnvironment>>("Environment");
const auto entityBroker = blackboard.get<EntityBroker::Ptr>("EntityBroker");
@@ -51,7 +52,8 @@ private:
entityBroker->GetEntities(),
longitudinalDistanceAction_->GetContinuous(),
longitudinalDistanceAction_->GetFreespace(),
- [=]() {
+ [=]()
+ {
return ConvertScenarioLongitudinalDistance(
environment,
longitudinalDistanceAction_->IsSetDistance(),
@@ -64,12 +66,11 @@ private:
ConvertScenarioDynamicConstraints(longitudinalDistanceAction_->IsSetDynamicConstraints(), longitudinalDistanceAction_->GetDynamicConstraints()),
ConvertScenarioEntity(longitudinalDistanceAction_->GetEntityRef()),
ConvertScenarioCoordinateSystem(longitudinalDistanceAction_->GetCoordinateSystem())},
- OpenScenarioEngine::v1_3::LongitudinalDistanceAction::Interfaces{
- environment});
+ OpenScenarioEngine::v1_3::LongitudinalDistanceAction::Interfaces{environment});
}
- std::unique_ptr<OpenScenarioEngine::v1_3::MotionControlAction<OpenScenarioEngine::v1_3::LongitudinalDistanceAction>> impl_{nullptr};
+ std::unique_ptr<OpenScenarioEngine::v1_3::MotionControlAction<OpenScenarioEngine::v1_3::LongitudinalDistanceAction>> impl_;
std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::ILongitudinalDistanceAction> longitudinalDistanceAction_;
};
-} // namespace OpenScenarioEngine::v1_3::Node
\ No newline at end of file
+} // namespace OpenScenarioEngine::v1_3::Node
diff --git a/engine/src/Utils/StoryBoardElementState.h b/engine/src/Utils/StoryBoardElementState.h
new file mode 100644
index 0000000000000000000000000000000000000000..b76edea6b278682a0172c5ea4bd5993e849ee896
--- /dev/null
+++ b/engine/src/Utils/StoryBoardElementState.h
@@ -0,0 +1,26 @@
+/*******************************************************************************
+ * Copyright (c) 2025 Ansys, Inc.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#pragma once
+#include <cstdint>
+
+namespace OpenScenarioEngine::v1_3
+{
+/// Definition of StoryBoardElementState
+///
+/// \see https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/StoryboardElementState.html
+enum class StoryBoardElementState : std::uint8_t
+{
+ kCompleteState,
+ kRunningState,
+ kStandbyState,
+ kUnknown
+};
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/StoryBoardElementStateManager.cpp b/engine/src/Utils/StoryBoardElementStateManager.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..815b6b4b1e603c3ea0eb9086e912ed3e5c29610d
--- /dev/null
+++ b/engine/src/Utils/StoryBoardElementStateManager.cpp
@@ -0,0 +1,65 @@
+/*******************************************************************************
+ * Copyright (c) 2025 Ansys, Inc.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#include "Utils/StoryBoardElementStateManager.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+
+void StoryBoardElementStateManager::Update(const StoryBoardElement& name, StoryBoardElementType type, StoryBoardElementState state)
+{
+ std::lock_guard<std::mutex> lock(mutex_);
+ states_[{name, type}] = state;
+}
+
+void StoryBoardElementStateManager::Update(const StoryBoardElement& name, StoryBoardElementType type, StoryBoardElementTransition transition)
+{
+ std::lock_guard<std::mutex> lock(mutex_);
+ transitions_[{name, type}] = transition;
+}
+
+void StoryBoardElementStateManager::ResetState(const StoryBoardElement& name, StoryBoardElementType type)
+{
+ std::lock_guard<std::mutex> lock(mutex_);
+ states_[{name, type}] = StoryBoardElementState::kUnknown;
+}
+
+void StoryBoardElementStateManager::ResetTransition(const StoryBoardElement& name, StoryBoardElementType type)
+{
+ std::lock_guard<std::mutex> lock(mutex_);
+ transitions_[{name, type}] = StoryBoardElementTransition::kUnknown;
+}
+
+std::optional<StoryBoardElementState> StoryBoardElementStateManager::GetState(const StoryBoardElement& name, StoryBoardElementType type) const
+{
+ std::lock_guard<std::mutex> lock(mutex_);
+
+ StoryBoardElementKey key{name, type};
+ auto it = states_.find(key);
+ if (it != states_.end())
+ {
+ return it->second;
+ }
+ return std::nullopt;
+}
+
+std::optional<StoryBoardElementTransition> StoryBoardElementStateManager::GetTransition(const StoryBoardElement& name, StoryBoardElementType type) const
+{
+ std::lock_guard<std::mutex> lock(mutex_);
+
+ StoryBoardElementKey key{name, type};
+ auto it = transitions_.find(key);
+ if (it != transitions_.end())
+ {
+ return it->second;
+ }
+ return std::nullopt;
+}
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/StoryBoardElementStateManager.h b/engine/src/Utils/StoryBoardElementStateManager.h
new file mode 100644
index 0000000000000000000000000000000000000000..e945d1aeced177afb7beaf54d77e15547180da21
--- /dev/null
+++ b/engine/src/Utils/StoryBoardElementStateManager.h
@@ -0,0 +1,64 @@
+/*******************************************************************************
+ * Copyright (c) 2025 Ansys, Inc.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#pragma once
+
+#include <openScenarioLib/generated/v1_3/api/EnumerationsV1_3.h>
+
+#include <mutex>
+#include <optional>
+#include <unordered_map>
+
+#include "Utils/StoryBoardElementState.h"
+#include "Utils/StoryBoardElementTransition.h"
+#include "Utils/StoryBoardElementType.h"
+
+namespace OpenScenarioEngine::v1_3
+{
+
+using StoryBoardElement = std::string;
+
+struct StoryBoardElementKey
+{
+ StoryBoardElement name;
+ StoryBoardElementType type;
+
+ bool operator==(const StoryBoardElementKey& other) const
+ {
+ return name == other.name && type == other.type;
+ }
+};
+
+struct StoryBoardElementKeyHasher
+{
+ std::size_t operator()(const StoryBoardElementKey& key) const
+ {
+ std::size_t h1 = std::hash<std::string>{}(key.name);
+ std::size_t h2 = std::hash<std::underlying_type_t<StoryBoardElementType>>{}(static_cast<std::underlying_type_t<StoryBoardElementType>>(key.type));
+ return h1 ^ (h2 << 1);
+ }
+};
+
+class StoryBoardElementStateManager
+{
+public:
+ void Update(const StoryBoardElement& name, StoryBoardElementType type, StoryBoardElementState state);
+ void Update(const StoryBoardElement& name, StoryBoardElementType type, StoryBoardElementTransition transition);
+ void ResetState(const StoryBoardElement& name, StoryBoardElementType type);
+ void ResetTransition(const StoryBoardElement& name, StoryBoardElementType type);
+ [[nodiscard]] std::optional<StoryBoardElementState> GetState(const StoryBoardElement& name, StoryBoardElementType type) const;
+ [[nodiscard]] std::optional<StoryBoardElementTransition> GetTransition(const StoryBoardElement& name, StoryBoardElementType type) const;
+
+private:
+ mutable std::mutex mutex_;
+ std::unordered_map<StoryBoardElementKey, StoryBoardElementState, StoryBoardElementKeyHasher> states_;
+ std::unordered_map<StoryBoardElementKey, StoryBoardElementTransition, StoryBoardElementKeyHasher> transitions_;
+};
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/StoryBoardElementTransition.h b/engine/src/Utils/StoryBoardElementTransition.h
new file mode 100644
index 0000000000000000000000000000000000000000..998203b5ababc0f8fe5f89a5fd5efabeca72a580
--- /dev/null
+++ b/engine/src/Utils/StoryBoardElementTransition.h
@@ -0,0 +1,27 @@
+/*******************************************************************************
+ * Copyright (c) 2025 Ansys, Inc.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#pragma once
+#include <cstdint>
+
+namespace OpenScenarioEngine::v1_3
+{
+/// Definition of StoryBoardElementTransition
+///
+/// \see https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/StoryboardElementState.html
+enum class StoryBoardElementTransition : std::uint8_t
+{
+ kEndTransition,
+ kSkipTransition,
+ kStartTransition,
+ kStopTransition,
+ kUnknown
+};
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/src/Utils/StoryBoardElementType.h b/engine/src/Utils/StoryBoardElementType.h
new file mode 100644
index 0000000000000000000000000000000000000000..512dda127dc995c7a3608ac32db504c4f3b3b7e3
--- /dev/null
+++ b/engine/src/Utils/StoryBoardElementType.h
@@ -0,0 +1,29 @@
+/*******************************************************************************
+ * Copyright (c) 2025 Ansys, Inc.
+ *
+ * This program and the accompanying materials are made available under the
+ * terms of the Eclipse Public License 2.0 which is available at
+ * http://www.eclipse.org/legal/epl-2.0.
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ ********************************************************************************/
+
+#pragma once
+#include <cstdint>
+
+namespace OpenScenarioEngine::v1_3
+{
+/// Definition of StoryBoardElementType
+///
+/// \see https://publications.pages.asam.net/standards/ASAM_OpenSCENARIO/ASAM_OpenSCENARIO_XML/latest/generated/content/StoryboardElementType.html
+enum class StoryBoardElementType : std::uint8_t
+{
+ kAct,
+ kAction,
+ kEvent,
+ kManeuver,
+ kManeuverGroup,
+ kStory,
+ kUnknown
+};
+} // namespace OpenScenarioEngine::v1_3
diff --git a/engine/tests/Node/EventNodeTest.cpp b/engine/tests/Node/EventNodeTest.cpp
index 899c66c4800377ef907e605fad3d184951b057a7..2df19a3f7b8a0b5d6e88da8710ac721353186057 100644
--- a/engine/tests/Node/EventNodeTest.cpp
+++ b/engine/tests/Node/EventNodeTest.cpp
@@ -18,9 +18,11 @@
#include "Node/EventNode.h"
#include "Node/Testing/FakeActionNode.h"
#include "TestUtils/MockEventPrioritizer.h"
+#include "Utils/StoryBoardElementStateManager.h"
using OpenScenarioEngine::v1_3::EventPriority;
using OpenScenarioEngine::v1_3::IEventPrioritizer;
+using OpenScenarioEngine::v1_3::StoryBoardElementStateManager;
using OpenScenarioEngine::v1_3::Node::EventNode;
using testing::Return;
using testing::OpenScenarioEngine::v1_3::FakeActionNode;
@@ -30,13 +32,16 @@ class TreeWithPrioritizer
{
public:
TreeWithPrioritizer()
- : event_prioritizer_{std::make_shared<MockEventPrioritizer>()}
+ : event_prioritizer_{std::make_shared<MockEventPrioritizer>()}, story_board_element_state_manager_{std::make_shared<StoryBoardElementStateManager>()}
{
- auto declaration = std::make_unique<
- yase::TypeDeclarer<
- std::shared_ptr<
- IEventPrioritizer>>>("EventPrioritizer", event_prioritizer_);
- root_ = std::make_shared<yase::DataDeclarationNode>("RootWithEventPrioritizer", std::move(declaration));
+ std::vector<yase::DataDeclaration::UPtr> declarations;
+ declarations.push_back(std::make_unique<yase::TypeDeclarer<std::shared_ptr<IEventPrioritizer>>>(
+ "EventPrioritizer", event_prioritizer_));
+ declarations.push_back(std::make_unique<yase::TypeDeclarer<std::shared_ptr<StoryBoardElementStateManager>>>(
+ "StoryBoardElementStateManager", story_board_element_state_manager_));
+
+ root_ = std::make_shared<yase::DataDeclarationNode>(
+ "RootWithEventPrioritizer", std::move(declarations));
}
yase::DecoratorNode& get_root()
@@ -51,6 +56,7 @@ public:
private:
std::shared_ptr<MockEventPrioritizer> event_prioritizer_;
+ std::shared_ptr<StoryBoardElementStateManager> story_board_element_state_manager_;
yase::DataDeclarationNode::Ptr root_;
};
diff --git a/engine/tests/Node/ManeuverNodeTest.cpp b/engine/tests/Node/ManeuverNodeTest.cpp
index 310adc444e71af184d54cadc7e055423b4e6aa2b..f4bdfcde2ad57e0d92c845300123ac95f87345ba 100644
--- a/engine/tests/Node/ManeuverNodeTest.cpp
+++ b/engine/tests/Node/ManeuverNodeTest.cpp
@@ -8,8 +8,8 @@
* SPDX-License-Identifier: EPL-2.0
********************************************************************************/
-#include <agnostic_behavior_tree/decorator/data_declaration_node.h>
#include <agnostic_behavior_tree/composite/parallel_node.h>
+#include <agnostic_behavior_tree/decorator/data_declaration_node.h>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
@@ -18,12 +18,14 @@
#include "Node/EventNode.h"
#include "Node/ManeuverNode.h"
#include "Node/Testing/FakeActionNode.h"
+#include "TestUtils.h"
using OpenScenarioEngine::v1_3::EventPriority;
using OpenScenarioEngine::v1_3::Node::EventNode;
using OpenScenarioEngine::v1_3::Node::ManeuverNode;
using testing::Return;
using testing::OpenScenarioEngine::v1_3::FakeActionNode;
+using testing::OpenScenarioEngine::v1_3::FakeRootNode;
enum class OscStatus : std::uint8_t
{
@@ -42,6 +44,7 @@ protected:
ManeuverNodeTest()
{
maneuver_node->setChild(events_node);
+ root_node->setChild(maneuver_node);
}
EventWithStartTrigger AddEventWithPriority(EventPriority priority)
@@ -96,6 +99,7 @@ protected:
std::shared_ptr<ManeuverNode> maneuver_node = std::make_shared<ManeuverNode>("Maneuver Node");
std::shared_ptr<yase::ParallelNode> events_node = std::make_shared<yase::ParallelNode>("Events Node");
+ std::shared_ptr<FakeRootNode> root_node = std::make_shared<FakeRootNode>(nullptr, nullptr, nullptr);
};
TEST_F(ManeuverNodeTest, GivenMultipleNodesWithParallelPriority_WhenManeuverTicks_ThenAllEventsRunning)
@@ -103,14 +107,14 @@ TEST_F(ManeuverNodeTest, GivenMultipleNodesWithParallelPriority_WhenManeuverTick
auto [event1, start_trigger1] = AddEventWithPriority(EventPriority::kParallel);
auto [event2, start_trigger2] = AddEventWithPriority(EventPriority::kParallel);
auto [event3, start_trigger3] = AddEventWithPriority(EventPriority::kParallel);
- maneuver_node->distributeData();
- maneuver_node->executeTick();
+ root_node->distributeData();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event3, start_trigger3), OscStatus::kRunning);
- maneuver_node->executeTick();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kRunning);
@@ -122,8 +126,8 @@ TEST_F(ManeuverNodeTest, GivenMultipleNodesWithParallelorSkipPriority_WhenManeuv
auto [event1, start_trigger1] = AddEventWithPriority(EventPriority::kParallel);
auto [event2, start_trigger2] = AddEventWithPriority(EventPriority::kSkip);
auto [event3, start_trigger3] = AddEventWithPriority(EventPriority::kParallel);
- maneuver_node->distributeData();
- maneuver_node->executeTick();
+ root_node->distributeData();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
@@ -137,15 +141,15 @@ TEST_F(ManeuverNodeTest, GivenMultipleNodesWithOneOverridePriority_WhenManeuverT
auto [event3, start_trigger3] = AddEventWithPriority(EventPriority::kParallel);
auto [event4, start_trigger4] = AddEventWithPriority(EventPriority::kOverride);
- maneuver_node->distributeData();
- maneuver_node->executeTick();
+ root_node->distributeData();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
EXPECT_THAT(GetEventStatus(event3, start_trigger3), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event4, start_trigger4), OscStatus::kRunning);
- maneuver_node->executeTick();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kSuccess);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
@@ -157,28 +161,28 @@ TEST_F(ManeuverNodeTest, GivenMultipleNodesWithOneOverridePriority_WhenManeuverT
{
auto [event1, start_trigger1] = AddEventWithPriority(EventPriority::kParallel);
EXPECT_CALL(start_trigger1, tick())
- .WillOnce(Return(yase::NodeStatus::kRunning))
- .WillRepeatedly(Return(yase::NodeStatus::kSuccess));
+ .WillOnce(Return(yase::NodeStatus::kRunning))
+ .WillRepeatedly(Return(yase::NodeStatus::kSuccess));
auto [event2, start_trigger2] = AddEventWithPriority(EventPriority::kSkip);
auto [event3, start_trigger3] = AddEventWithPriority(EventPriority::kParallel);
auto [event4, start_trigger4] = AddEventWithPriority(EventPriority::kOverride);
- maneuver_node->distributeData();
- maneuver_node->executeTick();
+ root_node->distributeData();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kStandby);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
EXPECT_THAT(GetEventStatus(event3, start_trigger3), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event4, start_trigger4), OscStatus::kRunning);
- maneuver_node->executeTick();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
EXPECT_THAT(GetEventStatus(event3, start_trigger3), OscStatus::kSuccess);
EXPECT_THAT(GetEventStatus(event4, start_trigger4), OscStatus::kRunning);
- maneuver_node->executeTick();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
@@ -186,7 +190,6 @@ TEST_F(ManeuverNodeTest, GivenMultipleNodesWithOneOverridePriority_WhenManeuverT
EXPECT_THAT(GetEventStatus(event4, start_trigger4), OscStatus::kRunning);
}
-
TEST_F(ManeuverNodeTest, GivenMultipleNodesWithMultipleOverridePriority_WhenManeuverTicks_ThenOnlyStartedEventsOverridden)
{
auto [event1, start_trigger1] = AddEventWithPriority(EventPriority::kParallel);
@@ -195,16 +198,16 @@ TEST_F(ManeuverNodeTest, GivenMultipleNodesWithMultipleOverridePriority_WhenMane
auto [event4, start_trigger4] = AddEventWithPriority(EventPriority::kOverride);
auto [event5, start_trigger5] = AddEventWithPriority(EventPriority::kParallel);
EXPECT_CALL(start_trigger5, tick())
- .WillOnce(Return(yase::NodeStatus::kRunning))
- .WillRepeatedly(Return(yase::NodeStatus::kSuccess));
+ .WillOnce(Return(yase::NodeStatus::kRunning))
+ .WillRepeatedly(Return(yase::NodeStatus::kSuccess));
auto [event6, start_trigger6] = AddEventWithPriority(EventPriority::kOverride);
EXPECT_CALL(start_trigger6, tick())
- .WillOnce(Return(yase::NodeStatus::kRunning))
- .WillOnce(Return(yase::NodeStatus::kRunning))
- .WillRepeatedly(Return(yase::NodeStatus::kSuccess));
+ .WillOnce(Return(yase::NodeStatus::kRunning))
+ .WillOnce(Return(yase::NodeStatus::kRunning))
+ .WillRepeatedly(Return(yase::NodeStatus::kSuccess));
- maneuver_node->distributeData();
- maneuver_node->executeTick();
+ root_node->distributeData();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
@@ -213,7 +216,7 @@ TEST_F(ManeuverNodeTest, GivenMultipleNodesWithMultipleOverridePriority_WhenMane
EXPECT_THAT(GetEventStatus(event5, start_trigger5), OscStatus::kStandby);
EXPECT_THAT(GetEventStatus(event6, start_trigger6), OscStatus::kStandby);
- maneuver_node->executeTick();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kSuccess);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
@@ -222,7 +225,7 @@ TEST_F(ManeuverNodeTest, GivenMultipleNodesWithMultipleOverridePriority_WhenMane
EXPECT_THAT(GetEventStatus(event5, start_trigger5), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event6, start_trigger6), OscStatus::kStandby);
- maneuver_node->executeTick();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kSuccess);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
@@ -231,7 +234,7 @@ TEST_F(ManeuverNodeTest, GivenMultipleNodesWithMultipleOverridePriority_WhenMane
EXPECT_THAT(GetEventStatus(event5, start_trigger5), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event6, start_trigger6), OscStatus::kRunning);
- maneuver_node->executeTick();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kSuccess);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
@@ -241,7 +244,6 @@ TEST_F(ManeuverNodeTest, GivenMultipleNodesWithMultipleOverridePriority_WhenMane
EXPECT_THAT(GetEventStatus(event6, start_trigger6), OscStatus::kRunning);
}
-
TEST_F(ManeuverNodeTest, GivenMultipleNodesWithOneOverwritePriority_WhenManeuverTicks_ThenParallelEventsOverridden)
{
auto [event1, start_trigger1] = AddEventWithPriority(EventPriority::kParallel);
@@ -249,15 +251,15 @@ TEST_F(ManeuverNodeTest, GivenMultipleNodesWithOneOverwritePriority_WhenManeuver
auto [event3, start_trigger3] = AddEventWithPriority(EventPriority::kParallel);
auto [event4, start_trigger4] = AddEventWithPriority(EventPriority::kOverwrite);
- maneuver_node->distributeData();
- maneuver_node->executeTick();
+ root_node->distributeData();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
EXPECT_THAT(GetEventStatus(event3, start_trigger3), OscStatus::kRunning);
EXPECT_THAT(GetEventStatus(event4, start_trigger4), OscStatus::kRunning);
- maneuver_node->executeTick();
+ root_node->executeTick();
EXPECT_THAT(GetEventStatus(event1, start_trigger1), OscStatus::kSuccess);
EXPECT_THAT(GetEventStatus(event2, start_trigger2), OscStatus::kSkipped);
diff --git a/engine/tests/TestUtils.h b/engine/tests/TestUtils.h
index 7408a93901f80e061b9b836e83301df45aa70f45..7ad4c21a6f0b15b4eb45a8dea90880a0f43612da 100644
--- a/engine/tests/TestUtils.h
+++ b/engine/tests/TestUtils.h
@@ -1,6 +1,6 @@
/*******************************************************************************
* Copyright (c) 2021-2024, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
- * Copyright (c) 2023 Ansys, Inc.
+ * Copyright (c) 2023-2025 Ansys, Inc.
*
* This program and the accompanying materials are made
* available under the terms of the Eclipse Public License 2.0
@@ -25,6 +25,7 @@
#include "Utils/ControllerCreator.h"
#include "Utils/EngineAbortFlags.h"
#include "Utils/EntityBroker.h"
+#include "Utils/StoryBoardElementStateManager.h"
namespace testing::OpenScenarioEngine::v1_3
{
@@ -32,121 +33,124 @@ using namespace units::literals;
class FakeRootNode : public yase::DecoratorNode
{
- public:
- FakeRootNode(std::shared_ptr<mantle_api::IEnvironment> environment,
- std::shared_ptr<::OpenScenarioEngine::v1_3::EngineAbortFlags> engine_abort_flags,
- std::shared_ptr<::OpenScenarioEngine::v1_3::EntityBroker> entity_broker)
- : yase::DecoratorNode{"OpenScenarioEngine"},
- environment_{environment},
- engine_abort_flags_{engine_abort_flags},
- entity_broker_{entity_broker}
- {
- distributeData();
- }
-
- private:
- void lookupAndRegisterData(yase::Blackboard& blackboard) override
- {
- blackboard.set("Environment", environment_);
- blackboard.set("EngineAbortFlags", engine_abort_flags_);
- blackboard.set("EntityBroker", entity_broker_);
- }
-
- yase::NodeStatus tick() final
- {
- return child().executeTick();
- }
-
- std::shared_ptr<mantle_api::IEnvironment> environment_;
- std::shared_ptr<::OpenScenarioEngine::v1_3::EngineAbortFlags> engine_abort_flags_;
- std::shared_ptr<::OpenScenarioEngine::v1_3::EntityBroker> entity_broker_;
+public:
+ FakeRootNode(std::shared_ptr<mantle_api::IEnvironment> environment,
+ std::shared_ptr<::OpenScenarioEngine::v1_3::EngineAbortFlags> engine_abort_flags,
+ std::shared_ptr<::OpenScenarioEngine::v1_3::EntityBroker> entity_broker)
+ : yase::DecoratorNode{"OpenScenarioEngine"},
+ environment_{environment},
+ engine_abort_flags_{engine_abort_flags},
+ entity_broker_{entity_broker},
+ story_board_element_state_manager_{std::make_shared<::OpenScenarioEngine::v1_3::StoryBoardElementStateManager>()}
+ {
+ distributeData();
+ }
+
+private:
+ void lookupAndRegisterData(yase::Blackboard& blackboard) override
+ {
+ blackboard.set("Environment", environment_);
+ blackboard.set("EngineAbortFlags", engine_abort_flags_);
+ blackboard.set("EntityBroker", entity_broker_);
+ blackboard.set("StoryBoardElementStateManager", story_board_element_state_manager_);
+ }
+
+ yase::NodeStatus tick() final
+ {
+ return child().executeTick();
+ }
+
+ std::shared_ptr<mantle_api::IEnvironment> environment_;
+ std::shared_ptr<::OpenScenarioEngine::v1_3::EngineAbortFlags> engine_abort_flags_;
+ std::shared_ptr<::OpenScenarioEngine::v1_3::EntityBroker> entity_broker_;
+ std::shared_ptr<::OpenScenarioEngine::v1_3::StoryBoardElementStateManager> story_board_element_state_manager_;
};
inline std::string GetScenariosPath(const std::string& test_file_path)
{
- std::filesystem::path file_path{test_file_path};
- return {file_path.remove_filename().string() + "data/Scenarios/"};
+ std::filesystem::path file_path{test_file_path};
+ return {file_path.remove_filename().string() + "data/Scenarios/"};
}
class OpenScenarioEngineLibraryTestBase : public ::testing::Test
{
- protected:
- void SetUp() override
- {
- env_ = std::make_shared<mantle_api::MockEnvironment>();
- ON_CALL(env_->GetControllerRepository(), Create(testing::_)).WillByDefault(testing::ReturnRef(controller_));
- }
-
- std::shared_ptr<mantle_api::MockEnvironment> env_;
- mantle_api::MockController controller_;
- std::string default_xosc_scenario_{
- "AutomatedLaneKeepingSystemScenarios/ALKS_Scenario_4.1_1_FreeDriving_TEMPLATE.xosc"};
+protected:
+ void SetUp() override
+ {
+ env_ = std::make_shared<mantle_api::MockEnvironment>();
+ ON_CALL(env_->GetControllerRepository(), Create(testing::_)).WillByDefault(testing::ReturnRef(controller_));
+ }
+
+ std::shared_ptr<mantle_api::MockEnvironment> env_;
+ mantle_api::MockController controller_;
+ std::string default_xosc_scenario_{
+ "AutomatedLaneKeepingSystemScenarios/ALKS_Scenario_4.1_1_FreeDriving_TEMPLATE.xosc"};
};
class EngineSubModuleTestBase : public OpenScenarioEngineLibraryTestBase
{
- protected:
- virtual void LoadScenario(const std::string& scenario_file_path)
- {
- auto message_logger =
- std::make_shared<NET_ASAM_OPENSCENARIO::SimpleMessageLogger>(NET_ASAM_OPENSCENARIO::ErrorLevel::INFO);
- auto catalog_message_logger =
- std::make_shared<NET_ASAM_OPENSCENARIO::SimpleMessageLogger>(NET_ASAM_OPENSCENARIO::ErrorLevel::INFO);
- auto loader_factory =
- NET_ASAM_OPENSCENARIO::v1_3::XmlScenarioImportLoaderFactory(catalog_message_logger, scenario_file_path);
- auto loader = loader_factory.CreateLoader(std::make_shared<NET_ASAM_OPENSCENARIO::FileResourceLocator>());
-
- scenario_ptr_ = std::static_pointer_cast<NET_ASAM_OPENSCENARIO::v1_3::IOpenScenario>(
- loader->Load(message_logger)->GetAdapter(typeid(NET_ASAM_OPENSCENARIO::v1_3::IOpenScenario).name()));
- }
-
- std::string GetScenariosPath(const std::string& test_file_path) const
- {
- std::filesystem::path file_path{test_file_path};
- // The first .parent_path() removes the filename, the second removes "/Utils"
- return {file_path.parent_path().parent_path().string() + "/data/Scenarios/"};
- }
-
- std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IOpenScenario> scenario_ptr_;
+protected:
+ virtual void LoadScenario(const std::string& scenario_file_path)
+ {
+ auto message_logger =
+ std::make_shared<NET_ASAM_OPENSCENARIO::SimpleMessageLogger>(NET_ASAM_OPENSCENARIO::ErrorLevel::INFO);
+ auto catalog_message_logger =
+ std::make_shared<NET_ASAM_OPENSCENARIO::SimpleMessageLogger>(NET_ASAM_OPENSCENARIO::ErrorLevel::INFO);
+ auto loader_factory =
+ NET_ASAM_OPENSCENARIO::v1_3::XmlScenarioImportLoaderFactory(catalog_message_logger, scenario_file_path);
+ auto loader = loader_factory.CreateLoader(std::make_shared<NET_ASAM_OPENSCENARIO::FileResourceLocator>());
+
+ scenario_ptr_ = std::static_pointer_cast<NET_ASAM_OPENSCENARIO::v1_3::IOpenScenario>(
+ loader->Load(message_logger)->GetAdapter(typeid(NET_ASAM_OPENSCENARIO::v1_3::IOpenScenario).name()));
+ }
+
+ std::string GetScenariosPath(const std::string& test_file_path) const
+ {
+ std::filesystem::path file_path{test_file_path};
+ // The first .parent_path() removes the filename, the second removes "/Utils"
+ return {file_path.parent_path().parent_path().string() + "/data/Scenarios/"};
+ }
+
+ std::shared_ptr<NET_ASAM_OPENSCENARIO::v1_3::IOpenScenario> scenario_ptr_;
};
class OpenScenarioEngineTestBase : public OpenScenarioEngineLibraryTestBase
{
- protected:
- void SetUp() override
- {
- OpenScenarioEngineLibraryTestBase::SetUp();
-
- mantle_api::VehicleProperties ego_properties{};
- ego_properties.type = mantle_api::EntityType::kVehicle;
- ego_properties.classification = mantle_api::VehicleClass::kMedium_car;
- ego_properties.model = "medium_car";
- ego_properties.bounding_box.dimension.length = 5.0_m;
- ego_properties.bounding_box.dimension.width = 2.0_m;
- ego_properties.bounding_box.dimension.height = 1.8_m;
- ego_properties.bounding_box.geometric_center.x = 1.4_m;
- ego_properties.bounding_box.geometric_center.y = 0.0_m;
- ego_properties.bounding_box.geometric_center.z = 0.9_m;
- ego_properties.performance.max_acceleration = 10_mps_sq;
- ego_properties.performance.max_deceleration = 10_mps_sq;
- ego_properties.performance.max_speed = 70_mps;
- ego_properties.front_axle.bb_center_to_axle_center = {1.58_m, 0.0_m, -0.5_m};
- ego_properties.front_axle.max_steering = 0.5_rad;
- ego_properties.front_axle.track_width = 1.68_m;
- ego_properties.front_axle.wheel_diameter = 0.8_m;
- ego_properties.rear_axle.bb_center_to_axle_center = {-1.4_m, 0.0_m, -0.5_m};
- ego_properties.rear_axle.max_steering = 0_rad;
- ego_properties.rear_axle.track_width = 1.68_m;
- ego_properties.rear_axle.wheel_diameter = 0.8_m;
- ego_properties.is_host = true;
- // Necessary because Create() is always called in engine init and will otherwise not return a MockVehicle ref
- // which results in an exception
- ON_CALL(dynamic_cast<mantle_api::MockEntityRepository&>(env_->GetEntityRepository()),
- Create(testing::_, ego_properties))
- .WillByDefault(testing::ReturnRef(mock_vehicle_));
- }
-
- mantle_api::MockVehicle mock_vehicle_{};
+protected:
+ void SetUp() override
+ {
+ OpenScenarioEngineLibraryTestBase::SetUp();
+
+ mantle_api::VehicleProperties ego_properties{};
+ ego_properties.type = mantle_api::EntityType::kVehicle;
+ ego_properties.classification = mantle_api::VehicleClass::kMedium_car;
+ ego_properties.model = "medium_car";
+ ego_properties.bounding_box.dimension.length = 5.0_m;
+ ego_properties.bounding_box.dimension.width = 2.0_m;
+ ego_properties.bounding_box.dimension.height = 1.8_m;
+ ego_properties.bounding_box.geometric_center.x = 1.4_m;
+ ego_properties.bounding_box.geometric_center.y = 0.0_m;
+ ego_properties.bounding_box.geometric_center.z = 0.9_m;
+ ego_properties.performance.max_acceleration = 10_mps_sq;
+ ego_properties.performance.max_deceleration = 10_mps_sq;
+ ego_properties.performance.max_speed = 70_mps;
+ ego_properties.front_axle.bb_center_to_axle_center = {1.58_m, 0.0_m, -0.5_m};
+ ego_properties.front_axle.max_steering = 0.5_rad;
+ ego_properties.front_axle.track_width = 1.68_m;
+ ego_properties.front_axle.wheel_diameter = 0.8_m;
+ ego_properties.rear_axle.bb_center_to_axle_center = {-1.4_m, 0.0_m, -0.5_m};
+ ego_properties.rear_axle.max_steering = 0_rad;
+ ego_properties.rear_axle.track_width = 1.68_m;
+ ego_properties.rear_axle.wheel_diameter = 0.8_m;
+ ego_properties.is_host = true;
+ // Necessary because Create() is always called in engine init and will otherwise not return a MockVehicle ref
+ // which results in an exception
+ ON_CALL(dynamic_cast<mantle_api::MockEntityRepository&>(env_->GetEntityRepository()),
+ Create(testing::_, ego_properties))
+ .WillByDefault(testing::ReturnRef(mock_vehicle_));
+ }
+
+ mantle_api::MockVehicle mock_vehicle_{};
};
} // namespace testing::OpenScenarioEngine::v1_3