Merge branch 'fix_delay' into 'main'

Fix delay if not divisable by simulation step time

See merge request eclipse/simopenpass/openscenario1_engine!104

existing_open_scenario_engine/src/Storyboard/Conditions/Condition.cpp

@@ -56,18 +56,22 @@ bool Condition::IsSatisfied()
     evaluator_->UpdateStatus(is_satisfied);
     results_[env_->GetSimulationTime()] = evaluator_->GetStatus();
 
-    if (env_->GetSimulationTime() - start_time_ < delay_)
+    auto previous_result_time = env_->GetSimulationTime() - delay_;
+    if (previous_result_time < start_time_)  // Earlier than first recorded result
     {
         return false;
     }
 
-    // Erase all results with "key < env_->GetSimulationTime() - delay_" to avoid memory leak
-    auto it = results_.find(env_->GetSimulationTime() - delay_);
-    if (it != results_.end() && it != results_.begin())
+    auto it = results_.find(previous_result_time);
+    // If there is no result for the exact previous time, then take the result of one step before
+    if (it == results_.end())
     {
-        results_.erase(results_.begin(), --it);
+        it = results_.lower_bound(previous_result_time);
+        it--;
     }
-    return results_[env_->GetSimulationTime() - delay_];
+    // Erase all results from before to avoid memory leak
+    results_.erase(results_.begin(), it);
+    return results_.begin()->second;
 }
 
 }  // namespace OPENSCENARIO

existing_open_scenario_engine/test/ConditionTest.cpp

@@ -77,4 +77,32 @@ TEST_F(ConditionTestFixture,
     EXPECT_TRUE(condition.IsSatisfied());
 }
 
+TEST_F(
+    ConditionTestFixture,
+    GivenFulfilledSimulationTimeConditionWithDelayNotDivisableByStepTime_WhenCallingIsSatisfied_ThenReturnTrueAfterDelay)
+{
+    auto scenario_simulation_time_condition =
+        std::make_shared<NET_ASAM_OPENSCENARIO::v1_1::SimulationTimeConditionImpl>();
+    scenario_simulation_time_condition->SetRule(NET_ASAM_OPENSCENARIO::v1_1::Rule::GREATER_OR_EQUAL);
+    scenario_simulation_time_condition->SetValue(0.0);
+
+    auto scenario_by_value_condition = std::make_shared<NET_ASAM_OPENSCENARIO::v1_1::ByValueConditionImpl>();
+    scenario_by_value_condition->SetSimulationTimeCondition(scenario_simulation_time_condition);
+
+    auto scenario_condition = std::make_shared<NET_ASAM_OPENSCENARIO::v1_1::ConditionImpl>();
+    scenario_condition->SetConditionEdge(NET_ASAM_OPENSCENARIO::v1_1::ConditionEdge::NONE);
+    scenario_condition->SetDelay(0.0123);
+    scenario_condition->SetByValueCondition(scenario_by_value_condition);
+
+    Condition condition(scenario_condition, env_);
+
+    EXPECT_FALSE(condition.IsSatisfied());
+    step_count_++;
+    EXPECT_FALSE(condition.IsSatisfied());
+    step_count_++;
+    EXPECT_TRUE(condition.IsSatisfied());
+    step_count_++;
+    EXPECT_TRUE(condition.IsSatisfied());
+}
+
 }  // namespace OPENSCENARIO