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Fix/interpreter/assign route action #1453

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merged 4 commits into from
Nov 18, 2024
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Merged

Fix/interpreter/assign route action #1453

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c93c12b
Add new test scenario `RoutingAction.AssignRouteAction.yaml`
yamacir-kit Nov 15, 2024
fe413ef
Fix AssignRouteAction to clear route before requesting a new route
yamacir-kit Nov 15, 2024
95b632e
Merge branch 'master' into fix/interpreter/assign-route-action
yamacir-kit Nov 18, 2024
46a47e6
Merge branch 'master' into fix/interpreter/assign-route-action
yamacir-kit Nov 18, 2024
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5 changes: 3 additions & 2 deletions openscenario/openscenario_interpreter/include/openscenario_interpreter/simulator_core.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -474,9 +474,10 @@ class SimulatorCore
}

template <typename... Ts>
static auto applyAssignRouteAction(Ts &&... xs)
static auto applyAssignRouteAction(const std::string & entity_ref, Ts &&... xs)
{
return core->requestAssignRoute(std::forward<decltype(xs)>(xs)...);
core->requestClearRoute(entity_ref);
return core->requestAssignRoute(entity_ref, std::forward<decltype(xs)>(xs)...);
}

template <typename... Ts>
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195 changes: 195 additions & 0 deletions test_runner/scenario_test_runner/scenario/RoutingAction.AssignRouteAction.yaml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,195 @@
ScenarioModifiers:
ScenarioModifier: []
OpenSCENARIO:
FileHeader:
revMajor: 1
revMinor: 1
date: '2024-11-15T02:21:26.404Z'
description: ''
author: Tatsuya Yamasaki
ParameterDeclarations:
ParameterDeclaration: []
CatalogLocations:
VehicleCatalog:
Directory:
path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle
RoadNetwork:
LogicFile:
filepath: $(ros2 pkg prefix --share kashiwanoha_map)/map
Entities:
ScenarioObject:
- name: ego
CatalogReference:
catalogName: sample_vehicle
entryName: sample_vehicle
ObjectController:
Controller:
name: 'Autoware'
Properties:
Property: []
Storyboard:
Init:
Actions:
Private:
- entityRef: ego
PrivateAction:
- TeleportAction:
Position: &INITIAL_POSITION
LanePosition:
roadId: ''
laneId: '34513'
s: 5
Orientation: &DEFAULT_ORIENTATION
type: relative
h: 0
p: 0
r: 0
- RoutingAction:
AcquirePositionAction:
Position: &STANDBY_POSITION
LanePosition:
roadId: ''
laneId: '34513'
s: 30
Orientation: *DEFAULT_ORIENTATION
Story:
- name: ''
Act:
- name: act_reroute
ManeuverGroup:
- maximumExecutionCount: 1
name: act_reroute
Actors:
selectTriggeringEntities: false
EntityRef:
- entityRef: ego
Maneuver:
- name: ''
Event:
- name: reroute
priority: parallel
Action:
- name: ''
PrivateAction:
RoutingAction:
AssignRouteAction:
Route:
name: ''
closed: false
Waypoint:
- Position: &CHECK_POINT_0
LanePosition:
roadId: ''
laneId: '34606'
s: 15
Orientation: *DEFAULT_ORIENTATION
routeStrategy: shortest
- Position: &CHECK_POINT_1
LanePosition:
roadId: ''
laneId: '34600'
s: 30
Orientation: *DEFAULT_ORIENTATION
routeStrategy: shortest
- Position: &CHECK_POINT_2
LanePosition:
roadId: ''
laneId: '34630'
s: 13
Orientation: *DEFAULT_ORIENTATION
routeStrategy: shortest
- Position: &DESTINATION
LanePosition:
roadId: ''
laneId: '34741'
s: 25
Orientation: *DEFAULT_ORIENTATION
routeStrategy: shortest
StartTrigger:
ConditionGroup:
- Condition:
- name: ''
delay: 0
conditionEdge: none
ByValueCondition:
UserDefinedValueCondition:
value: WAITING_FOR_ROUTE
name: ego.currentState
rule: equalTo
StartTrigger:
ConditionGroup:
- Condition:
- name: ''
delay: 0
conditionEdge: none
ByEntityCondition:
TriggeringEntities:
triggeringEntitiesRule: any
EntityRef:
- entityRef: ego
EntityCondition:
ReachPositionCondition:
Position: *STANDBY_POSITION
tolerance: 1
- name: _EndCondition
ManeuverGroup:
- maximumExecutionCount: 1
name: ''
Actors:
selectTriggeringEntities: false
EntityRef:
- entityRef: ego
Maneuver:
- name: ''
Event:
- name: ''
priority: parallel
StartTrigger:
ConditionGroup:
- Condition:
- name: ''
delay: 0
conditionEdge: none
ByEntityCondition:
TriggeringEntities:
triggeringEntitiesRule: any
EntityRef:
- entityRef: ego
EntityCondition:
ReachPositionCondition:
Position: *DESTINATION
tolerance: 1
Action:
- name: ''
UserDefinedAction:
CustomCommandAction:
type: exitSuccess
- name: ''
priority: parallel
StartTrigger:
ConditionGroup:
- Condition:
- name: ''
delay: 0
conditionEdge: none
ByValueCondition:
SimulationTimeCondition:
value: 180
rule: greaterThan
Action:
- name: ''
UserDefinedAction:
CustomCommandAction:
type: exitFailure
StartTrigger:
ConditionGroup:
- Condition:
- name: ''
delay: 0
conditionEdge: none
ByValueCondition:
SimulationTimeCondition:
value: 0
rule: greaterThan
StopTrigger:
ConditionGroup: []
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