Merge branch 'master' of...

Merge branch 'master' of https://gitlab.eclipse.org/eclipse/simopenpass/scenario_api into add-clang-tidy-config

.cmake-format

@@ -13,6 +13,13 @@ line_ending: unix
 command_case: canonical
 keyword_case: upper
 additional_commands:
+  CPMAddPackage:
+    kwargs:
+      NAME: "*"
+      GITHUB_REPOSITORY: "*"
+      GIT_TAG: "*"
+      VERSION: "*"
+      OPTIONS: "*"
   configure_package_config_file:
     flags:
       - NO_SET_AND_CHECK_MACRO
@@ -47,7 +54,7 @@ additional_commands:
       EXECUTABLE: "*"
       EXECUTABLE_ARGS: "*"
       DEPENDENCIES: "*"
-always_wrap: ["add_library", "find_package", "find_dependency", "target_include_directories"]
+always_wrap: []
 enable_sort: true
 autosort: false
 hashruler_min_length: 10

.gitignore

+.cache/
+.vscode/
+build/
+compile_commands.json

CMakeLists.txt

 ################################################################################
 # Copyright (c) 2021 Daimler TSS GmbH
+# Copyright (c) 2022 Mercedes-Benz Tech Innovation GmbH
 #
 # This program and the accompanying materials are made available under the terms
 # of the Eclipse Public License 2.0 which is available at
@@ -13,29 +14,131 @@ cmake_minimum_required(VERSION 3.15.0 FATAL_ERROR)
 # Add the custom CMake modules to CMake's module path
 list(PREPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
 
+# Determine if MantleAPI is built as a subproject (using add_subdirectory) or if it is the main project.
+if(NOT DEFINED MantleAPI_MAIN_PROJECT)
+  set(MantleAPI_MAIN_PROJECT OFF)
+  if(CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
+    set(MantleAPI_MAIN_PROJECT ON)
+  endif()
+endif()
+
 project(
-  ScenarioAPI
+  MantleAPI
   VERSION 0.1.0
-  DESCRIPTION "Scenario API, an abstraction layer for environmental simulators"
+  DESCRIPTION "MantleAPI, an abstraction layer for environmental simulators"
   LANGUAGES CXX
 )
 
-# Project setup only if this is the main project
-if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
-  set_property(GLOBAL PROPERTY USE_FOLDERS ON)
-  include(CTest)
-  option(BUILD_DOCUMENTATION "Build the documentation tree." OFF)
+# Options that control generation of various targets.
+option(MantleAPI_DOC "Generate the doc target." ${MantleAPI_MAIN_PROJECT})
+option(MantleAPI_INSTALL "Generate the install target." ${MantleAPI_MAIN_PROJECT})
+option(MantleAPI_TEST "Generate the test target." ${MantleAPI_MAIN_PROJECT})
+option(MantleAPI_PACKAGE "Generate the package target." ${MantleAPI_MAIN_PROJECT})
+option(MantleAPI_ENABLE_WARNINGS "Enable compiler warnings." ${MantleAPI_MAIN_PROJECT})
+option(MantleAPI_ENABLE_WERROR "Fail and stop if a warning is triggered." ${MantleAPI_MAIN_PROJECT})
+
+if(MSVC)
+  if(MantleAPI_ENABLE_WARNINGS)
+    add_compile_options(/W4)
+  endif()
+  if(MantleAPI_ENABLE_WERROR)
+    add_compile_options(/WX /wd4996)
+  endif()
+else()
+  if(MantleAPI_ENABLE_WARNINGS)
+    add_compile_options(-Wall -Wextra)
+  endif()
+  if(MantleAPI_ENABLE_WERROR)
+    add_compile_options(-Werror -Wno-error=deprecated-declarations)
+  endif()
 endif()
 
-# Go into the actual project
-add_subdirectory(MantleAPI)
+# Fetch dependencies
+include(CPM)
+CPMAddPackage(
+  NAME units
+  GITHUB_REPOSITORY nholthaus/units
+  GIT_TAG v2.3.3
+  VERSION 2.3.3
+  OPTIONS "DISABLE_PREDEFINED_UNITS ON"
+          "ENABLE_PREDEFINED_ACCELERATION_UNITS ON"
+          "ENABLE_PREDEFINED_ANGLE_UNITS ON"
+          "ENABLE_PREDEFINED_ANGULAR_VELOCITY_UNITS ON"
+          "ENABLE_PREDEFINED_CONCENTRATION_UNITS ON"
+          "ENABLE_PREDEFINED_FORCE_UNITS ON"
+          "ENABLE_PREDEFINED_LENGTH_UNITS ON"
+          "ENABLE_PREDEFINED_MASS_UNITS ON"
+          "ENABLE_PREDEFINED_PRESSURE_UNITS ON"
+          "ENABLE_PREDEFINED_TEMPERATURE_UNITS ON"
+          "ENABLE_PREDEFINED_TIME_UNITS ON"
+          "ENABLE_PREDEFINED_VELOCITY_UNITS ON"
+)
+
+# Add library
+file(
+  GLOB_RECURSE HEADERS
+  RELATIVE ${PROJECT_SOURCE_DIR}/include
+  CONFIGURE_DEPENDS "*.h"
+)
+
+add_library(MantleAPI INTERFACE)
+add_library(MantleAPI::MantleAPI ALIAS MantleAPI)
+
+target_link_libraries(MantleAPI INTERFACE units::units)
+
+include(GNUInstallDirs)
+set(INSTALL_CONFIG_DIR "${CMAKE_INSTALL_LIBDIR}/cmake/MantleAPI")
+
+target_include_directories(
+  MantleAPI INTERFACE $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include> $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
+)
+
+target_compile_features(MantleAPI INTERFACE cxx_std_17)
+
+# Configure export
+include(CMakePackageConfigHelpers)
+configure_package_config_file(
+  "${PROJECT_SOURCE_DIR}/cmake/MantleAPIConfig.cmake.in" "${PROJECT_BINARY_DIR}/MantleAPIConfig.cmake"
+  INSTALL_DESTINATION ${INSTALL_CONFIG_DIR}
+  PATH_VARS CMAKE_INSTALL_INCLUDEDIR
+)
+
+write_basic_package_version_file(
+  "${PROJECT_BINARY_DIR}/MantleAPIConfigVersion.cmake"
+  VERSION ${PROJECT_VERSION}
+  COMPATIBILITY SameMajorVersion
+)
+
+# Configure install
+if(MantleAPI_INSTALL)
+  install(DIRECTORY include/ TYPE INCLUDE)
+  install(TARGETS MantleAPI EXPORT MantleAPITargets)
 
-# Should we build documentation for the project?
-if((CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME AND BUILD_DOCUMENTATION) OR ScenarioAPI_BUILD_DOCUMENTATION)
+  install(
+    EXPORT MantleAPITargets
+    DESTINATION ${INSTALL_CONFIG_DIR}
+    NAMESPACE MantleAPI::
+  )
+
+  install(
+    FILES "${PROJECT_BINARY_DIR}/MantleAPIConfig.cmake" "${PROJECT_BINARY_DIR}/MantleAPIConfigVersion.cmake"
+    DESTINATION ${INSTALL_CONFIG_DIR}
+    COMPONENT dev
+  )
+endif()
+
+# Build docs
+if(MantleAPI_DOC)
   add_subdirectory(doc)
 endif()
 
-# Include the CPack configuration
-if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
-  include(ScenarioAPICPack)
+# Build tests
+if(MantleAPI_TEST)
+  enable_testing()
+  add_subdirectory(test)
+endif()
+
+# Configure package
+if(MantleAPI_PACKAGE)
+  include(MantleAPICPack)
 endif()

MantleAPI/include/CMakeLists.txt

-################################################################################
-# Copyright (c) 2021 Daimler TSS GmbH
-#
-# This program and the accompanying materials are made available under the terms
-# of the Eclipse Public License 2.0 which is available at
-# https://www.eclipse.org/legal/epl-2.0/
-#
-# SPDX-License-Identifier: EPL-2.0
-################################################################################
-
-find_package(
-  units CONFIG REQUIRED
-)
-
-file(
-  GLOB_RECURSE HEADERS
-  RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
-  CONFIGURE_DEPENDS "*.h"
-)
-
-add_library(
-  ScenarioAPI INTERFACE
-)
-add_library(
-  ScenarioAPI::ScenarioAPI ALIAS ScenarioAPI
-)
-
-target_link_libraries(ScenarioAPI INTERFACE units)
-
-include(GNUInstallDirs)
-set(INSTALL_CONFIG_DIR "${CMAKE_INSTALL_LIBDIR}/cmake/ScenarioAPI")
-
-target_include_directories(
-  ScenarioAPI
-  INTERFACE $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
-)
-
-target_compile_features(ScenarioAPI INTERFACE cxx_std_17)
-
-include(CMakePackageConfigHelpers)
-configure_package_config_file(
-  "${PROJECT_SOURCE_DIR}/cmake/ScenarioAPIConfig.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/ScenarioAPIConfig.cmake"
-  INSTALL_DESTINATION ${INSTALL_CONFIG_DIR}
-  PATH_VARS CMAKE_INSTALL_INCLUDEDIR
-)
-
-write_basic_package_version_file(
-  "${CMAKE_CURRENT_BINARY_DIR}/ScenarioAPIConfigVersion.cmake"
-  VERSION ${PROJECT_VERSION}
-  COMPATIBILITY SameMajorVersion
-)
-
-install(DIRECTORY MantleAPI TYPE INCLUDE)
-install(TARGETS ScenarioAPI EXPORT ScenarioAPITargets)
-
-install(
-  EXPORT ScenarioAPITargets
-  DESTINATION ${INSTALL_CONFIG_DIR}
-  NAMESPACE ScenarioAPI::
-)
-
-install(
-  FILES "${CMAKE_CURRENT_BINARY_DIR}/ScenarioAPIConfig.cmake"
-        "${CMAKE_CURRENT_BINARY_DIR}/ScenarioAPIConfigVersion.cmake"
-  DESTINATION ${INSTALL_CONFIG_DIR}
-  COMPONENT dev
-)

README.md

-# Scenario API
+# MantleAPI
 
-A collection of interfaces for abstraction between a scenario engine and an environment simulator. 
-It is intended to be usable with a wide variety of scenario description languages by implementing according scenario engines. 
+A collection of interfaces for abstraction between a scenario engine and an environment simulator.
+It is intended to be usable with a wide variety of scenario description languages by implementing according scenario engines.
 
-Remark: This is currently work in progress and no stable state is reached yet. 
+Remark: This is currently work in progress and no stable state is reached yet.
 
 ## Used libraries
 
 ### Units
 License: MIT License
 URL: https://github.com/nholthaus/units
-Version: v2.3.1
+Version: v2.3.3
+
+### GoogleTest
+License: BSD-3-Clause License
+URL: https://github.com/google/googletest
+Version: v1.12.1
+
+### CPM
+License: MIT License
+URL: https://github.com/cpm-cmake/CPM.cmake
+Version: v0.36.0

cmake/CPM.cmake

+set(CPM_DOWNLOAD_VERSION 0.36.0)
+
+if(CPM_SOURCE_CACHE)
+  set(CPM_DOWNLOAD_LOCATION "${CPM_SOURCE_CACHE}/cpm/CPM_${CPM_DOWNLOAD_VERSION}.cmake")
+elseif(DEFINED ENV{CPM_SOURCE_CACHE})
+  set(CPM_DOWNLOAD_LOCATION "$ENV{CPM_SOURCE_CACHE}/cpm/CPM_${CPM_DOWNLOAD_VERSION}.cmake")
+else()
+  set(CPM_DOWNLOAD_LOCATION "${CMAKE_BINARY_DIR}/cmake/CPM_${CPM_DOWNLOAD_VERSION}.cmake")
+endif()
+
+# Expand relative path. This is important if the provided path contains a tilde (~)
+get_filename_component(CPM_DOWNLOAD_LOCATION ${CPM_DOWNLOAD_LOCATION} ABSOLUTE)
+if(NOT (EXISTS ${CPM_DOWNLOAD_LOCATION}))
+  message(STATUS "Downloading CPM.cmake to ${CPM_DOWNLOAD_LOCATION}")
+  file(DOWNLOAD
+       https://github.com/cpm-cmake/CPM.cmake/releases/download/v${CPM_DOWNLOAD_VERSION}/CPM.cmake
+       ${CPM_DOWNLOAD_LOCATION}
+  )
+endif()
+
+include(${CPM_DOWNLOAD_LOCATION})

cmake/ScenarioAPICPack.cmake → cmake/MantleAPICPack.cmake

 ################################################################################
 # Copyright (c) 2021 Daimler TSS GmbH
+# Copyright (c) 2022 Mercedes-Benz Tech Innovation GmbH
 #
 # This program and the accompanying materials are made available under the terms
 # of the Eclipse Public License 2.0 which is available at
@@ -8,16 +9,15 @@
 # SPDX-License-Identifier: EPL-2.0
 ################################################################################
 
-set(CPACK_PACKAGE_NAME "scenario_api")
+set(CPACK_PACKAGE_NAME "${PROJECT_NAME}")
 set(CPACK_PACKAGE_VENDOR "simopenpass Eclipse project team")
 set(CPACK_PACKAGE_VERSION_MAJOR ${PROJECT_VERSION_MAJOR})
 set(CPACK_PACKAGE_VERSION_MINOR ${PROJECT_VERSION_MINOR})
 set(CPACK_PACKAGE_VERSION_PATCH ${PROJECT_VERSION_PATCH})
 set(CPACK_PACKAGE_VERSION ${PROJECT_VERSION})
 set(CPACK_SYSTEM_NAME ${CMAKE_SYSTEM_NAME})
-set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Scenario API")
-set(CPACK_PACKAGE_FILE_NAME
-    "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}-${CPACK_SYSTEM_NAME}")
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "${PROJECT_DESCRIPTION}")
+set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}-${CPACK_SYSTEM_NAME}")
 set(CPACK_PACKAGE_INSTALL_DIRECTORY ${CPACK_PACKAGE_NAME})
 set(CPACK_PACKAGE_CHECKSUM SHA512)
 set(CPACK_RESOURCE_FILE_LICENSE "${PROJECT_SOURCE_DIR}/LICENSE.txt")

cmake/ScenarioAPIConfig.cmake.in → cmake/MantleAPIConfig.cmake.in

 ################################################################################
 # Copyright (c) 2021 Daimler TSS GmbH
+# Copyright (c) 2022 Mercedes-Benz Tech Innovation GmbH
 #
 # This program and the accompanying materials are made available under the terms
 # of the Eclipse Public License 2.0 which is available at
@@ -10,11 +11,11 @@
 
 @PACKAGE_INIT@
 
-if(NOT TARGET ScenarioAPI::ScenarioAPI AND NOT ScenarioAPI_BINARY_DIR)
-  set_and_check(ScenarioAPI_INCLUDE_DIR "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
-  mark_as_advanced(ScenarioAPI_INCLUDE_DIR)
-  include("${CMAKE_CURRENT_LIST_DIR}/ScenarioAPITargets.cmake")
-endif()
-
 include(CMakeFindDependencyMacro)
 find_dependency(units)
+
+if(NOT TARGET MantleAPI::MantleAPI AND NOT MantleAPI_BINARY_DIR)
+  set_and_check(MantleAPI_INCLUDE_DIR "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
+  mark_as_advanced(MantleAPI_INCLUDE_DIR)
+  include("${CMAKE_CURRENT_LIST_DIR}/MantleAPITargets.cmake")
+endif()

doc/CMakeLists.txt

+################################################################################
+# Copyright (c) 2022 Mercedes-Benz Tech Innovation GmbH
+#
+# This program and the accompanying materials are made available under the terms
+# of the Eclipse Public License 2.0 which is available at
+# https://www.eclipse.org/legal/epl-2.0/
+#
+# SPDX-License-Identifier: EPL-2.0
+################################################################################
+
+find_package(Doxygen QUIET REQUIRED dot OPTIONAL_COMPONENTS mscgen dia)
+
+set(DOXYGEN_BUILTIN_STL_SUPPORT YES)
+set(DOXYGEN_DOT_IMAGE_FORMAT svg)
+set(DOXYGEN_IMAGE_PATH ${CMAKE_CURRENT_LIST_DIR}/images)
+set(DOXYGEN_INCLUDE_PATH ${PROJECT_SOURCE_DIR}/include)
+set(DOXYGEN_INTERACTIVE_SVG YES)
+set(DOXYGEN_QUIET YES)
+set(DOXYGEN_TAB_SIZE 2)
+set(DOXYGEN_UML_LOOK YES)
+set(DOXYGEN_USE_MDFILE_AS_MAINPAGE README.md)
+
+doxygen_add_docs(
+  ${PROJECT_NAME}_doc ${PROJECT_SOURCE_DIR}/README.md ${PROJECT_SOURCE_DIR}/include COMMENT "Generate html docs"
+)

MantleAPI/include/MantleAPI/Common/position.h → include/MantleAPI/Common/position.h

@@ -21,23 +21,30 @@
 
 #include <cmath>
 #include <cstdint>
+#include <string>
 #include <variant>
 
 namespace mantle_api
 {
-struct ReferencedObject
+struct OpenDriveRoadPosition
 {
-  std::int32_t road{0};
-  std::int32_t lane{0};
+  /// @brief RoadId as defined in OpenDRIVE
+  std::string road{};
+  /// @brief Offset in s direction w.r.t. road, unit: [m]
+  units::length::meter_t s_offset{0.0};
+  /// @brief Offset in t direction w.r.t. reference line of road, unit: [m]
+  units::length::meter_t t_offset{0.0};
 };
 
-struct OpenDrivePosition
+struct OpenDriveLanePosition
 {
-  ReferencedObject referenced_object{};
-
-  /// @brief Offset in s direction, unit: [m]
+  /// @brief RoadId as defined in OpenDRIVE
+  std::string road{};
+  /// @brief LaneId as defined in OpenDRIVE (e.g. -1 for right lane)
+  std::int32_t lane{0};
+  /// @brief Offset in s direction w.r.t lane (same as road), unit: [m]
   units::length::meter_t s_offset{0.0};
-  /// @brief Offset in t direction, unit: [m]
+  /// @brief Offset in t direction w.r.t center line of lane, unit: [m]
   units::length::meter_t t_offset{0.0};
 };
 
@@ -49,19 +56,35 @@ struct LatLonPosition
   units::angle::radian_t longitude{0.0};
 };
 
-using Position = std::variant<OpenDrivePosition, LatLonPosition, Vec3<units::length::meter_t>>;
+using Position = std::variant<OpenDriveRoadPosition, OpenDriveLanePosition, LatLonPosition, Vec3<units::length::meter_t>>;
+
+/// @brief Equality comparison for OpenDriveRoadPosition.
+///
+/// **Attention** Floating-point comparision may require tweaks in precision.
+inline bool operator==(const OpenDriveRoadPosition& lhs, const OpenDriveRoadPosition& rhs) noexcept
+{
+  return lhs.road == rhs.road &&
+         IsEqual(lhs.s_offset, rhs.s_offset) &&
+         IsEqual(lhs.t_offset, rhs.t_offset);
+}
+
+inline bool operator!=(const OpenDriveRoadPosition& lhs, const OpenDriveRoadPosition& rhs) noexcept
+{
+  return !(lhs == rhs);
+}
 
-/// @brief Equality comparison for OpenDrivePosition.
+/// @brief Equality comparison for OpenDriveLanePosition.
 ///
 /// **Attention** Floating-point comparision may require tweaks in precision.
-inline bool operator==(const OpenDrivePosition& lhs, const OpenDrivePosition& rhs) noexcept
+inline bool operator==(const OpenDriveLanePosition& lhs, const OpenDriveLanePosition& rhs) noexcept
 {
-  return lhs.referenced_object.road == rhs.referenced_object.road &&
-         lhs.referenced_object.lane == rhs.referenced_object.lane && IsEqual(lhs.s_offset, rhs.s_offset) &&
+  return lhs.road == rhs.road &&
+         lhs.lane == rhs.lane &&
+         IsEqual(lhs.s_offset, rhs.s_offset) &&
          IsEqual(lhs.t_offset, rhs.t_offset);
 }
 
-inline bool operator!=(const OpenDrivePosition& lhs, const OpenDrivePosition& rhs) noexcept
+inline bool operator!=(const OpenDriveLanePosition& lhs, const OpenDriveLanePosition& rhs) noexcept
 {
   return !(lhs == rhs);
 }