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VTD: Add support for xosc v1.0
this commit includes: - modifing vtd_binding.cpp to support reading of xosc xml tags - adding more roadmark_types to omni_sensor_component.cpp - adding xosc test case with corresponding xodr and osgb file
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‎optional/vtd/contrib/projects/cloe_tests/Databases/Germany.2018

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‎optional/vtd/contrib/projects/cloe_tests/Databases/Germany_2018.opt.osgb

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../../../Distros/Current/Databases/Germany_2018.opt.osgb

‎optional/vtd/contrib/projects/cloe_tests/Databases/Germany_2018.xodr

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../../../Distros/Current/Databases/Germany_2018.xodr

‎optional/vtd/contrib/projects/cloe_tests/Scenarios/acc-test.xosc

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<?xml version="1.0" encoding="UTF-8"?>
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<!-- Demonstrate and test ACC controller -->
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<!-- A white car is driving with constant speed, set by init event -->
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<!-- The white car approaches a red leading car -->
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<!-- The red leading car will perform some maneuvers to exercise the ACC function -->
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<OpenSCENARIO>
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<FileHeader revMajor="1" revMinor="0" date="2020-02-21T10:00:00" description="straight 500m" author="Patrick Schuster, Bosch"/>
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<CatalogLocations>
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<VehicleCatalog>
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<Directory path="Distros/Current/Config/Players/Vehicles" />
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</VehicleCatalog>
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</CatalogLocations>
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<RoadNetwork>
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<LogicFile filepath="Projects/Current/Databases/Germany.2018/Germany_2018.xodr"/>
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<SceneGraphFile filepath="Projects/Current/Databases/Germany.2018/Germany_2018.opt.osgb"/>
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</RoadNetwork>
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<Entities>
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<ScenarioObject name="Ego">
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<Vehicle name="Audi_A3_2009_black" vehicleCategory="car">
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<ParameterDeclarations/>
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<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
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<BoundingBox>
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<Center x="1.5" y="0.0" z="0.9"/>
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<Dimensions width="2.1" length="4.5" height="1.8"/>
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</BoundingBox>
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<Axles>
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<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
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<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
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</Axles>
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<Properties>
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<Property name="control" value="external"/>
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</Properties>
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</Vehicle>
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</ScenarioObject>
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<ScenarioObject name="Opponent">
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<Vehicle name="Audi_A3_2009_white" vehicleCategory="car">
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<ParameterDeclarations/>
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<Performance maxSpeed="69.444" maxAcceleration="200" maxDeceleration="10.0"/>
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<BoundingBox>
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<Center x="1.5" y="0.0" z="0.9"/>
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<Dimensions width="2.1" length="4.5" height="1.8"/>
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</BoundingBox>
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<Axles>
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<FrontAxle maxSteering="0.5" wheelDiameter="0.6" trackWidth="1.8" positionX="3.1" positionZ="0.3"/>
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<RearAxle maxSteering="0.0" wheelDiameter="0.6" trackWidth="1.8" positionX="0.0" positionZ="0.3"/>
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</Axles>
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<Properties>
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<Property name="control" value="internal"/>
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</Properties>
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</Vehicle>
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</ScenarioObject>
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</Entities>
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<Storyboard>
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<Init>
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<Actions>
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<Private entityRef="Ego">
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<PrivateAction>
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<TeleportAction>
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<Position>
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<!--<LanePosition roadId="1" laneId="-1" offset="0" s="10"/>-->
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<WorldPosition x="3641.578" y="-7263.547" z="0" h="0" p="0" r="0" />
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</Position>
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</TeleportAction>
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</PrivateAction>
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<PrivateAction>
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<LongitudinalAction>
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<SpeedAction>
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<SpeedActionDynamics dynamicsShape="step" value="0" dynamicsDimension="time"/>
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<SpeedActionTarget>
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<AbsoluteTargetSpeed value="30" />
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</SpeedActionTarget>
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</SpeedAction>
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</LongitudinalAction>
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</PrivateAction>
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</Private>
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<Private entityRef="Opponent">
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<PrivateAction>
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<TeleportAction>
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<Position>
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<!--<LanePosition roadId="1" laneId="-1" offset="0" s="10"/>-->
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<WorldPosition x="3661.578" y="-7263.547" z="0" h="0" p="0" r="0" />
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</Position>
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</TeleportAction>
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</PrivateAction>
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</Private>
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</Actions>
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</Init>
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<Story name="Story1">
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<Act name="Act1">
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<ManeuverGroup name="Sequence2" maximumExecutionCount="1">
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<Actors selectTriggeringEntities="true">
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<EntityRef entityRef="Opponent" />
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</Actors>
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<Maneuver name="Maneuver1">
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<Event name="Event1" priority="overwrite">
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<Action name="Action1">
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<PrivateAction>
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<LongitudinalAction>
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<SpeedAction>
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<SpeedActionDynamics dynamicsShape="step" value="0" dynamicsDimension="time" />
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<SpeedActionTarget>
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<AbsoluteTargetSpeed value="30" />
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</SpeedActionTarget>
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</SpeedAction>
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</LongitudinalAction>
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</PrivateAction>
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</Action>
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<StartTrigger>
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<ConditionGroup>
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<Condition name="StartCondition1" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<SimulationTimeCondition value="0" rule="greaterThan" />
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</ByValueCondition>
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</Condition>
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</ConditionGroup>
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</StartTrigger>
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</Event>
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</Maneuver>
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<Maneuver name="Maneuver2">
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<Event name="Event2" priority="overwrite">
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<Action name="Action2">
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<PrivateAction>
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<LongitudinalAction>
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<SpeedAction>
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<SpeedActionDynamics dynamicsShape="step" value="0" dynamicsDimension="time" />
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<SpeedActionTarget>
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<AbsoluteTargetSpeed value="40" />
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</SpeedActionTarget>
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</SpeedAction>
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</LongitudinalAction>
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</PrivateAction>
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</Action>
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<StartTrigger>
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<ConditionGroup>
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<Condition name="StartCondition2" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<SimulationTimeCondition value="5" rule="greaterThan" />
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</ByValueCondition>
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</Condition>
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</ConditionGroup>
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</StartTrigger>
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</Event>
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</Maneuver>
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</ManeuverGroup>
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<ManeuverGroup name="Sequence3" maximumExecutionCount="1">
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<Actors selectTriggeringEntities="true">
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<EntityRef entityRef="Opponent" />
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</Actors>
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<Maneuver name="Maneuver3">
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<Event name="Event3" priority="overwrite">
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<Action name="Action3">
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<PrivateAction>
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<LongitudinalAction>
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<SpeedAction>
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<SpeedActionDynamics dynamicsShape="step" value="0" dynamicsDimension="time" />
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<SpeedActionTarget>
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<AbsoluteTargetSpeed value="25" />
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</SpeedActionTarget>
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</SpeedAction>
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</LongitudinalAction>
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</PrivateAction>
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</Action>
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<StartTrigger>
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<ConditionGroup>
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<Condition name="StartCondition3" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<SimulationTimeCondition value="10" rule="greaterThan" />
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</ByValueCondition>
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</Condition>
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</ConditionGroup>
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</StartTrigger>
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</Event>
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</Maneuver>
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</ManeuverGroup>
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<StartTrigger>
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</StartTrigger>
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<StopTrigger>
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</StopTrigger>
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</Act>
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</Story>
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<StopTrigger>
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<ConditionGroup>
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<Condition name="StopCondition1" delay="0" conditionEdge="rising">
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<ByValueCondition>
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<SimulationTimeCondition value="15" rule="greaterThan" />
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</ByValueCondition>
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</Condition>
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</ConditionGroup>
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</StopTrigger>
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</Storyboard>
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</OpenSCENARIO>

‎optional/vtd/src/omni_sensor_component.cpp

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@@ -149,6 +149,10 @@ const std::map<int, cloe::LaneBoundary::Type> vtd_roadmark_type_map = {
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{RDB_ROADMARK_TYPE_GRASS, cloe::LaneBoundary::Type::Grass},
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{RDB_ROADMARK_TYPE_BOTDOT, cloe::LaneBoundary::Type::Unknown},
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{RDB_ROADMARK_TYPE_OTHER, cloe::LaneBoundary::Type::Unknown},
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{RDB_ROADMARK_TYPE_SOLID_SOLID, cloe::LaneBoundary::Type::Unknown},
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{RDB_ROADMARK_TYPE_BROKEN_SOLID, cloe::LaneBoundary::Type::Unknown},
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{RDB_ROADMARK_TYPE_SOLID_BROKEN, cloe::LaneBoundary::Type::Unknown},
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{RDB_ROADMARK_TYPE_LANE_CENTER, cloe::LaneBoundary::Type::Unknown},
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};
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/**

‎optional/vtd/src/vtd_binding.cpp

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}
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void apply_scp_scenario_response(boost::property_tree::ptree& xml) {
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auto trafficcontrol = xml.get_child("Scenario").get_child("TrafficControl");
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for (auto& it : trafficcontrol) {
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if (it.first != "Player") continue;
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auto p = it.second;
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std::string control = p.get("Description.<xmlattr>.Control", "default");
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if (control == "external") {
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auto name = p.get("Description.<xmlattr>.Name", "unspecified");
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agents_expected_.insert(name);
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// Ask VTD to create a vehicle dynamics instance for this vehicle
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scp::DynamicsPluginConfig cfg;
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cfg.name = name;
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scp_client_->send(cfg);
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boost::optional<boost::property_tree::ptree&> scenario = xml.get_child_optional("Scenario");
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if (scenario) {
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auto tc = xml.get_child("Scenario").get_child("TrafficControl");
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for (auto& it : tc) {
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if (it.first != "Player") {
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continue;
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}
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auto p = it.second;
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std::string control = p.get("Description.<xmlattr>.Control", "default");
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if (control == "external") {
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auto name = p.get("Description.<xmlattr>.Name", "unspecified");
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agents_expected_.insert(name);
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// Ask VTD to create a vehicle dynamics instance for this vehicle
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scp::DynamicsPluginConfig cfg;
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cfg.name = name;
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scp_client_->send(cfg);
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}
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}
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} else {
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auto& entities = xml.get_child("OpenSCENARIO").get_child("Entities");
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for (auto& it : entities) {
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if (it.first != "ScenarioObject") {
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continue;
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}
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auto& obj = it.second;
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boost::optional<boost::property_tree::ptree&> properties_avail = obj.get_child("Vehicle").get_child_optional("Properties");
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if (!properties_avail) {
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continue;
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}
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auto& properties = obj.get_child("Vehicle").get_child("Properties");
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for (auto& property : properties) {
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auto prop = property.second;
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std::string control = prop.get("<xmlattr>.value", "default");
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if (control == "external") {
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auto name = obj.get("<xmlattr>.name", "unspecified");
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agents_expected_.insert(name);
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// Ask VTD to create a vehicle dynamics instance for this vehicle
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scp::DynamicsPluginConfig cfg;
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cfg.name = name;
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scp_client_->send(cfg);
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}
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}
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}
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}
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}

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