OpenScenarioEngine

• User Guide (this document)
• Architecture Documentation
• Generator Documentation

User Guide

The OpenScenarioEngine is an implementation of the component OpenSCENARIO Director, as proposed by the the ASAM OpenSCENARIO 1.2.0 standard:

An OpenSCENARIO Director (OSC Director) is a component that interprets the OSC Model Instance and governs the progress of a scenario in a simulation. The OSC Director is the component responsible for running the scenario.

Usage

The engine has several dependencies, which are managed by submodules which are checked out into engine/deps. For a detailed overview of the dependencies please refer to the Architecture Documentation.

Prerequisites

The engine internally uses the OpenScenarioLib, which need to be built manually (please refer to the build instructions) before configuring using CMake.

For CMake to find the library, you need to tell it where the pre-built libraries are via the CMAKE_PREFIX_PATH, which can be done e.g. by adding the following lines to the .bashrc (if you use bash):

CMAKE_PREFIX_PATH=<path_to_engine>/engine/deps/openscenario_api/cpp/build/cgReleaseMakeShared/expressionsLib:<path_to_engine>/engine/deps/openscenario_api/cpp/build/cgReleaseMakeShared/openScenarioLib:<path_to_engine>/engine/deps/openscenario_api/cpp/build/cgReleaseMakeShared/antlr4_runtime/src/antlr4_runtime/runtime/Cpp/dist:$CMAKE_PREFIX_PATH

Building the Engine

Linux

# STARTING FROM ROOT OF REPOSITORY

# get dependencies
git submodule init
git submodule update

# building the openscenario_api
# this might differ on your machine → see official build instructions
cd engine/deps/openscenario_api/cpp/buildArtifact
chmod +x generateLinux.sh
./generateLinux.sh shared release make parallel

cd ../../../.. # back to engine
cmake -S . -B build
cd build
make OpenScenarioEngine

Windows (MINGW64 - experimental)

# STARTING FROM ROOT OF REPOSITORY

# get dependencies
git submodule init
git submodule update

# patching openscenario_api for MinGW64
cd engine/deps/openscenario_api
git apply ../patches/openscenario_api/mingw64/v1.3.1.patch

# building the openscenario_api (path to JAVA executable might differ!)
cd cpp
cmake -Wno-dev --preset="MSYS-shared-release" -DJava_JAVA_EXECUTABLE=/C/Program\ Files/Zulu/zulu-11/bin/java.exe
cmake --build --preset="Build-MSYS-shared-release"

# building the engine
cd ../../.. # back to engine
cmake -G "MSYS Makefiles" -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=bin -S . -B build
cd build
make install

⚠️ Note that the demo is not part the all target.

Running the Demo (Using the Engine)

The demo uses googletest/googlemock and the fakes supplied by the MantleAPI to show how the OpenScenarioEngine can be used in an executable.

Linux

# STARTING FROM ROOT OF REPOSITORY
cd engine
mkdir build && cd build
cmake ..
make OpenScenarioEngineDemo # would also build OpenScenarioEngine
./OpenScenarioEngineDemo ../demo/example/scenario.xosc

Windows (MINGW64 - experimental)

# STARTING FROM ROOT OF REPOSITORY
cd engine
cmake -G "MSYS Makefiles" -S . -B build
cd build
make OpenScenarioEngineDemo # would also build OpenScenarioEngine
./OpenScenarioEngineDemo ../demo/example/scenario.xosc

⚠️ If you start the demo, Windows might tell you that some dlls are missing. Locate and copy all of them into build.

Features

Covered Actions and Conditions

The following Actions and Conditions of OpenSCENARIO v1.1 are under development:

Conditions

Actions

TrafficSignalController

If defined in the road network, the engine manages TrafficSignalControllers on its own. The corresponding traffic light states of the traffic light phases are automatically emitted for the respective time steps, using the interface mantle_api::IEnvironment::SetTrafficSignalState.

Restrictions:

• Phases must define at least a single TrafficSignalState
• Delays and references between controllers not implemented yet
• TrafficSignalGroupStates (openSCENARIO 1.2) currently not supported

Conversions

Absolute Target Lane

Converts number (ID) of the target lane entity from string to mantle_api::LaneId

Coordinate System

Converts NET_ASAM_OPENSCENARIO::v1_2::CoordinateSystem enum to OpenScenario::CoordinateSystem enum.

Lane Change Target

Converts to mantle_api::UniqueId

Position

Converts to mantle_api::Pose

Relative Distance Type

Converts NET_ASAM_OPENSCENARIO::v1_2::IRelativeDistanceType enum type to OpenScenario::RelativeDistanceType enum.

Relative Target Lane

Converts NET_ASAM_OPENSCENARIO::v1_2::IRelativeTargetLane type object to mantle_api::UniqueId from its relative pose and the signed number of lanes that is offset from the reference entity's current lane.

Route

Converts to OPENSCENARIO::Route

Rule

Compares the quantitative variables or signals with the given condition and returns True or False. Note: Conversion rule for DateTime object type is not yet implemented.

Speed Action Target

Converts to OPENSCENARIO::SpeedActionTarget which is of type units::velocity::meters_per_second_t.

Continuous

Time Reference

Converts NET_ASAM_OPENSCENARIO::v1_2::ITimeReference object type to mantle_api::FollowTrajectoryControlStrategy::TrajectoryTimeReference when the timing information is taken into account. Note: For now only absolute time value is considered but not relative time value.

Time to Collision Condition Target

Converts NET_ASAM_OPENSCENARIO::v1_2::ITimeToCollisionConditionTarget object type either of mantle_api::Pose or Entity depending on its property. Note: If the object has the property Position, then it is restricted by conversion Conversions::Position

Traffic Signal Controller

Takes in the NET_ASAM_OPENSCENARIO::v1_2::ITrafficSignalController object type and returns the name of the target object in the form of a string.

Trajectory Reference

Converts NET_ASAM_OPENSCENARIO::v1_2::ITrajectoryRef object type to mantle_api::Trajectory

Transition Dynamics

Converts NET_ASAM_OPENSCENARIO::v1_2::ITransitionDynamics object type to mantle_api::TransitionDynamics
Note: Right now the property followingMode is not considered.

Dependencies

Issues

Please report (and see) here.

License

Eclipse Public License 2.0