Feature/preprocessor command

openscenario/openscenario_interpreter/CMakeLists.txt

@@ -11,6 +11,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake_auto REQUIRED)
+find_package(Boost REQUIRED COMPONENTS filesystem)
 
 ament_auto_find_build_dependencies()
 
@@ -97,6 +98,73 @@ install(
   DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/test
   DESTINATION share/${PROJECT_NAME})
 
+# ------------------------------------------------------------------------------
+#  parameter value distribution without ROS
+# ------------------------------------------------------------------------------
+add_library(parameter_value_distribution_without_ros STATIC
+  src/syntax/open_scenario.cpp
+  src/syntax/file_header.cpp
+  src/syntax/license.cpp
+  src/syntax/properties.cpp
+  src/syntax/property.cpp
+  src/syntax/file.cpp
+  src/syntax/open_scenario_category.cpp
+  src/syntax/parameter_value_distribution_definition.cpp
+  src/syntax/parameter_value_distribution.cpp
+  src/syntax/distribution_definition.cpp
+  src/syntax/deterministic.cpp
+  src/syntax/deterministic_parameter_distribution.cpp
+  src/syntax/deterministic_multi_parameter_distribution.cpp
+  src/syntax/deterministic_multi_parameter_distribution_type.cpp
+  src/syntax/value_set_distribution.cpp
+  src/syntax/deterministic_single_parameter_distribution.cpp
+  src/syntax/deterministic_single_parameter_distribution_type.cpp
+  src/syntax/distribution_range.cpp
+  src/syntax/range.cpp
+  src/syntax/distribution_set.cpp
+  src/syntax/distribution_set_element.cpp
+  src/syntax/stochastic.cpp
+  src/syntax/stochastic_distribution.cpp
+  src/syntax/stochastic_distribution_type.cpp
+  src/syntax/histogram.cpp
+  src/syntax/histogram_bin.cpp
+  src/syntax/normal_distribution.cpp
+  src/syntax/log_normal_distribution.cpp
+  src/syntax/poisson_distribution.cpp
+  src/syntax/probability_distribution_set.cpp
+  src/syntax/probability_distribution_set_element.cpp
+  src/syntax/uniform_distribution.cpp
+
+  src/syntax/boolean.cpp
+  src/syntax/double.cpp
+  src/syntax/integer.cpp
+  src/syntax/unsigned_integer.cpp
+  src/syntax/unsigned_short.cpp
+
+  src/syntax/parameter_value_set.cpp
+
+  src/utility/demangle.cpp
+
+  src/evaluate.cpp
+  src/object.cpp
+  src/parameter_distribution.cpp
+  src/scope.cpp)
+
+add_definitions("-DBOOST_ALLOW_DEPRECATED_HEADERS")
+# cspell: ignore DPARAMETER
+target_compile_definitions(parameter_value_distribution_without_ros PUBLIC -DPARAMETER_VALUE_DISTRIBUTION_ONLY)
+target_include_directories(parameter_value_distribution_without_ros PUBLIC include)
+target_include_directories(parameter_value_distribution_without_ros PUBLIC ${boost_json_SOURCE_DIR}/include)
+target_include_directories(parameter_value_distribution_without_ros PUBLIC ${scenario_simulator_exception_INCLUDE_DIRS})
+target_link_libraries(parameter_value_distribution_without_ros
+  Boost::filesystem
+  Boost::json
+  pugixml)
+
+install(
+  TARGETS parameter_value_distribution_without_ros
+  LIBRARY DESTINATION lib/${PROJECT_NAME})
+
 # ------------------------------------------------------------------------------
 #  test
 # ------------------------------------------------------------------------------

openscenario/openscenario_interpreter/include/openscenario_interpreter/reader/attribute.hpp

@@ -15,9 +15,12 @@
 #ifndef OPENSCENARIO_INTERPRETER__READER__ATTRIBUTE_HPP_
 #define OPENSCENARIO_INTERPRETER__READER__ATTRIBUTE_HPP_
 
+#ifndef PARAMETER_VALUE_DISTRIBUTION_ONLY
 #include <ament_index_cpp/get_package_share_directory.hpp>
-#include <boost/algorithm/string/replace.hpp>
 #include <concealer/execute.hpp>
+#endif  // PARAMETER_VALUE_DISTRIBUTION_ONLY
+
+#include <boost/algorithm/string/replace.hpp>
 #include <functional>
 #include <openscenario_interpreter/reader/evaluate.hpp>
 #include <openscenario_interpreter/syntax/parameter_type.hpp>
@@ -38,6 +41,7 @@ auto substitute(std::string attribute, Scope & scope)
 {
   auto dirname = [](auto &&, auto && scope) { return scope.dirname(); };
 
+#ifndef PARAMETER_VALUE_DISTRIBUTION_ONLY
   auto find_pkg_share = [](auto && package_name, auto &&) {
     return ament_index_cpp::get_package_share_directory(package_name);
   };
@@ -61,9 +65,11 @@ auto substitute(std::string attribute, Scope & scope)
       return result;
     }
   };
+#endif  // PARAMETER_VALUE_DISTRIBUTION_ONLY
 
   auto var = [](auto && name, auto && scope) {
-    // TODO: Return the value of the launch configuration variable instead of the OpenSCENARIO parameter.
+    // TODO: Return the value of the launch configuration variable instead of the OpenSCENARIO
+    // parameter.
     if (const auto found = scope.ref(name); found) {
       return boost::lexical_cast<String>(found);
     } else {
@@ -76,14 +82,16 @@ auto substitute(std::string attribute, Scope & scope)
     std::string, std::function<std::string(const std::string &, Scope &)> >
     substitutions{
       {"dirname", dirname},
-      // TODO {"env", env},
-      // TODO {"eval", eval},
-      // TODO {"exec-in-package", exec_in_package},
-      // TODO {"find-exec", find_exec},
-      // TODO {"find-pkg-prefix", find_pkg_prefix},
+  // TODO {"env", env},
+  // TODO {"eval", eval},
+  // TODO {"exec-in-package", exec_in_package},
+  // TODO {"find-exec", find_exec},
+  // TODO {"find-pkg-prefix", find_pkg_prefix},
+#ifndef PARAMETER_VALUE_DISTRIBUTION_ONLY
       {"find-pkg-share", find_pkg_share},
       {"ros2",
        ros2},  // NOTE: TIER IV extension (Not included in the ROS 2 Launch XML Substitution)
+#endif         // PARAMETER_VALUE_DISTRIBUTION_ONLY
       {"var", var},
     };
 
@@ -136,7 +144,8 @@ auto readAttribute(const std::string & name, const Node & node, const Scope & sc
     }
   };
 
-  // NOTE: https://www.asam.net/index.php?eID=dumpFile&t=f&f=4092&token=d3b6a55e911b22179e3c0895fe2caae8f5492467#_parameters
+  // NOTE:
+  // https://www.asam.net/index.php?eID=dumpFile&t=f&f=4092&token=d3b6a55e911b22179e3c0895fe2caae8f5492467#_parameters
 
   if (const auto & attribute = node.attribute(name.c_str())) {
     // NOTE: `substitute` is TIER IV extension (Non-OpenSCENARIO standard)

openscenario/openscenario_interpreter/include/openscenario_interpreter/scope.hpp

@@ -22,7 +22,11 @@
 #include <memory>
 #include <openscenario_interpreter/name.hpp>
 #include <openscenario_interpreter/syntax/catalog_locations.hpp>
+
+#ifndef PARAMETER_VALUE_DISTRIBUTION_ONLY
 #include <openscenario_interpreter/syntax/entity.hpp>
+#endif  // PARAMETER_VALUE_DISTRIBUTION_ONLY
+
 #include <openscenario_interpreter/utility/demangle.hpp>
 #include <random>
 #include <unordered_map>
@@ -191,7 +195,9 @@ class Scope
 public:
   const std::string name;
 
+#ifndef PARAMETER_VALUE_DISTRIBUTION_ONLY
   std::list<Entity> actors;
+#endif  // PARAMETER_VALUE_DISTRIBUTION_ONLY
 
   // NOTE: `random_engine` is used only for sharing random number generator in Stochastic now
   std::default_random_engine random_engine;

openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/deterministic_single_parameter_distribution_type.hpp

@@ -19,7 +19,6 @@
 #include <openscenario_interpreter/scope.hpp>
 #include <openscenario_interpreter/syntax/distribution_range.hpp>
 #include <openscenario_interpreter/syntax/distribution_set.hpp>
-#include <openscenario_interpreter/syntax/user_defined_distribution.hpp>
 #include <pugixml.hpp>
 
 namespace openscenario_interpreter

openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/stochastic_distribution_type.hpp

@@ -22,7 +22,6 @@
 #include <openscenario_interpreter/syntax/poisson_distribution.hpp>
 #include <openscenario_interpreter/syntax/probability_distribution_set.hpp>
 #include <openscenario_interpreter/syntax/uniform_distribution.hpp>
-#include <openscenario_interpreter/syntax/user_defined_distribution.hpp>
 #include <pugixml.hpp>
 
 namespace openscenario_interpreter

openscenario/openscenario_interpreter/src/scope.cpp

@@ -18,9 +18,12 @@
 #include <iterator>
 #include <openscenario_interpreter/scope.hpp>
 #include <openscenario_interpreter/syntax/open_scenario.hpp>
-#include <openscenario_interpreter/syntax/scenario_object.hpp>
 #include <scenario_simulator_exception/exception.hpp>
 
+#ifndef PARAMETER_VALUE_DISTRIBUTION_ONLY
+#include <openscenario_interpreter/syntax/scenario_object.hpp>
+#endif  // PARAMETER_VALUE_DISTRIBUTION_ONLY
+
 namespace openscenario_interpreter
 {
 EnvironmentFrame::EnvironmentFrame(EnvironmentFrame & outer_frame, const std::string & name)
@@ -99,8 +102,11 @@ Scope::Scope(const std::string & name, const Scope & outer)
 : open_scenario(outer.open_scenario),
   frame(std::shared_ptr<EnvironmentFrame>(new EnvironmentFrame(*outer.frame, name))),
   scenario_definition(outer.scenario_definition),
-  name(name),
+  name(name)
+#ifndef PARAMETER_VALUE_DISTRIBUTION_ONLY
+  ,
   actors(outer.actors)
+#endif  // PARAMETER_VALUE_DISTRIBUTION_ONLY
 {
 }
 

openscenario/openscenario_interpreter/src/syntax/deterministic_single_parameter_distribution_type.cpp

@@ -25,8 +25,8 @@ DeterministicSingleParameterDistributionType::DeterministicSingleParameterDistri
 : Group(
     choice(tree,
       std::make_pair("DistributionSet",         [&](auto && node){ return make<DistributionSet        >(node, scope);}),
-      std::make_pair("DistributionRange",       [&](auto && node){ return make<DistributionRange      >(node, scope);}),
-      std::make_pair("UserDefinedDistribution", [&](auto && node){ return make<UserDefinedDistribution>(node, scope);})))
+      std::make_pair("DistributionRange",       [&](auto && node){ return make<DistributionRange      >(node, scope);})))
+//      std::make_pair("UserDefinedDistribution", [&](auto && node){ return make<UserDefinedDistribution>(node, scope);})))
 // clang-format on
 {
 }

openscenario/openscenario_interpreter/src/syntax/open_scenario.cpp

@@ -15,7 +15,10 @@
 #include <openscenario_interpreter/reader/element.hpp>
 #include <openscenario_interpreter/syntax/open_scenario.hpp>
 #include <openscenario_interpreter/syntax/open_scenario_category.hpp>
+
+#ifndef PARAMETER_VALUE_DISTRIBUTION_ONLY
 #include <openscenario_interpreter/syntax/scenario_definition.hpp>
+#endif  // PARAMETER_VALUE_DISTRIBUTION_ONLY
 
 namespace openscenario_interpreter
 {
@@ -48,6 +51,7 @@ auto operator<<(boost::json::object & json, const OpenScenario & datum) -> boost
 {
   json["version"] = "1.0";
 
+#ifndef PARAMETER_VALUE_DISTRIBUTION_ONLY
   json["frame"] = datum.frame;
 
   json["CurrentStates"].emplace_object();
@@ -63,6 +67,7 @@ auto operator<<(boost::json::object & json, const OpenScenario & datum) -> boost
   if (datum.category.is<ScenarioDefinition>()) {
     json["OpenSCENARIO"].emplace_object() << datum.category.as<ScenarioDefinition>();
   }
+#endif  // PARAMETER_VALUE_DISTRIBUTION_ONLY
 
   return json;
 }

openscenario/openscenario_interpreter/src/syntax/open_scenario_category.cpp

@@ -12,10 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#ifndef PARAMETER_VALUE_DISTRIBUTION_ONLY
 #include <openscenario_interpreter/syntax/catalog_definition.hpp>
+#include <openscenario_interpreter/syntax/scenario_definition.hpp>
+#endif  // PARAMETER_VALUE_DISTRIBUTION_ONLY
+
+#include <openscenario_interpreter/reader/element.hpp>
 #include <openscenario_interpreter/syntax/open_scenario_category.hpp>
 #include <openscenario_interpreter/syntax/parameter_value_distribution_definition.hpp>
-#include <openscenario_interpreter/syntax/scenario_definition.hpp>
 
 namespace openscenario_interpreter
 {
@@ -25,8 +29,10 @@ OpenScenarioCategory::OpenScenarioCategory(const pugi::xml_node & tree, Scope &
 : Group(
     // clang-format off
     choice(tree,
+#ifndef PARAMETER_VALUE_DISTRIBUTION_ONLY
       std::make_pair("Storyboard",                [&](auto &&) { return make<ScenarioDefinition                  >(tree, scope);}),  // DIRTY HACK!!!
       std::make_pair("Catalog",                   [&](auto &&) { return make<CatalogDefinition                   >(tree, scope);}),
+#endif  // PARAMETER_VALUE_DISTRIBUTION_ONLY
       std::make_pair("ParameterValueDistribution",[&](auto &&) { return make<ParameterValueDistributionDefinition>(tree, scope);})))
 // clang-format on
 {

openscenario/openscenario_interpreter/src/syntax/stochastic_distribution_type.cpp

@@ -28,8 +28,8 @@ StochasticDistributionType::StochasticDistributionType(const pugi::xml_node & no
       std::make_pair("NormalDistribution",         [&](auto && node){return make<NormalDistribution        >(node, scope);}),
       std::make_pair("UniformDistribution",        [&](auto && node){return make<UniformDistribution       >(node, scope);}),
       std::make_pair("PoissonDistribution",        [&](auto && node){return make<PoissonDistribution       >(node, scope);}),
-      std::make_pair("Histogram",                  [&](auto && node){return make<Histogram                 >(node, scope);}),
-      std::make_pair("UserDefinedDistribution",    [&](auto && node){return make<UserDefinedDistribution   >(node, scope);})))
+      std::make_pair("Histogram",                  [&](auto && node){return make<Histogram                 >(node, scope);})))
+//      std::make_pair("UserDefinedDistribution",    [&](auto && node){return make<UserDefinedDistribution   >(node, scope);})))
 // clang-format on
 {
 }

openscenario/openscenario_preprocessor/CMakeLists.txt

@@ -3,24 +3,65 @@ cmake_minimum_required(VERSION 3.16.3) # Ubuntu 20.04 default CMake version
 project(openscenario_preprocessor)
 
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 find_package(ament_cmake_auto REQUIRED)
+find_package(XercesC          REQUIRED)
+find_package(Boost            REQUIRED COMPONENTS filesystem program_options regex)
+find_package(pugixml          REQUIRED)
+
 
 ament_auto_find_build_dependencies()
 
 ament_auto_add_executable(${PROJECT_NAME}_node
+  src/schema.cpp
   src/${PROJECT_NAME}.cpp
   src/${PROJECT_NAME}_node.cpp)
 
+target_link_libraries(${PROJECT_NAME}_node XercesC::XercesC)
+target_link_libraries(${PROJECT_NAME}_node yaml-cpp)
+
+find_library(parameter_value_distribution_LIBRARIES parameter_value_distribution_without_ros)
+
+file(READ ${openscenario_validator_DIR}/../../openscenario_validator/schema/OpenSCENARIO-1.3.xsd ${PROJECT_NAME}_OPENSCENARIO_1_3_XSD)
+configure_file(configure/schema.cpp src/schema.cpp)
+
+add_executable(${PROJECT_NAME}_command
+  src/t4v2.cpp
+  src/schema.cpp
+  src/${PROJECT_NAME}.cpp
+  src/${PROJECT_NAME}_command.cpp)
+
+# cspell: ignore DPARAMETER
+target_compile_definitions(${PROJECT_NAME}_command PUBLIC -DPARAMETER_VALUE_DISTRIBUTION_ONLY)
+
+target_include_directories(${PROJECT_NAME}_command PUBLIC include)
+target_include_directories(${PROJECT_NAME}_command PUBLIC ${XercesC_INCLUDE_DIRS})
+target_include_directories(${PROJECT_NAME}_command PUBLIC ${YAML_CPP_INCLUDE_DIRS})
+target_include_directories(${PROJECT_NAME}_command PUBLIC ${YAML_CPP_INCLUDE_DIRS})
+target_include_directories(${PROJECT_NAME}_command PUBLIC ${openscenario_interpreter_INCLUDE_DIRS})
+target_include_directories(${PROJECT_NAME}_command PUBLIC ${openscenario_validator_INCLUDE_DIRS})
+
+target_link_libraries(${PROJECT_NAME}_command Boost::filesystem Boost::program_options Boost::regex)
+target_link_libraries(${PROJECT_NAME}_command XercesC::XercesC)
+target_link_libraries(${PROJECT_NAME}_command pugixml)
+target_link_libraries(${PROJECT_NAME}_command yaml-cpp)
+
+target_link_libraries(${PROJECT_NAME}_command ${parameter_value_distribution_LIBRARIES})
+
+install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME}_command
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  )
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  ament_add_pytest_test(test_${PROJECT_NAME} "test/test_main.py")
 endif()
 
 ament_auto_package()

openscenario/openscenario_preprocessor/configure/schema.cpp

@@ -0,0 +1,20 @@
+// Copyright 2015 TIER IV, Inc. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <openscenario_preprocessor/schema.hpp>
+
+namespace openscenario_preprocessor
+{
+const char schema[] = R"###(${${PROJECT_NAME}_OPENSCENARIO_1_3_XSD})###";
+}  // namespace openscenario_preprocessor