openscenario_interpreter.hpp

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// 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.
 
#ifndef OPENSCENARIO_INTERPRETER__OPENSCENARIO_INTERPRETER_HPP_
#define OPENSCENARIO_INTERPRETER__OPENSCENARIO_INTERPRETER_HPP_
 
#include <boost/variant.hpp>
#include <chrono>
#include <lifecycle_msgs/msg/state.hpp>
#include <lifecycle_msgs/msg/transition.hpp>
#include <memory>
#include <openscenario_interpreter/console/escape_sequence.hpp>
#include <openscenario_interpreter/simulator_core.hpp>
#include <openscenario_interpreter/syntax/custom_command_action.hpp>
#include <openscenario_interpreter/syntax/open_scenario.hpp>
#include <openscenario_interpreter/syntax/scenario_definition.hpp>
#include <openscenario_interpreter/utility/execution_timer.hpp>
#include <openscenario_interpreter/utility/visibility.hpp>
#include <openscenario_interpreter_msgs/msg/context.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>
#include <scenario_simulator_exception/exception.hpp>
#include <simple_junit/junit5.hpp>
#include <tier4_simulation_msgs/msg/user_defined_value.hpp>
#include <utility>
 
#define INTERPRETER_INFO_STREAM(...) \
  RCLCPP_INFO_STREAM(get_logger(), "\x1b[32m" << __VA_ARGS__ << "\x1b[0m")
 
// NOTE: Error on simulation is not error of the interpreter; so we print error messages into
// INFO_STREAM.
#define INTERPRETER_ERROR_STREAM(...) \
  RCLCPP_INFO_STREAM(get_logger(), "\x1b[1;31m" << __VA_ARGS__ << "\x1b[0m")
 
namespace openscenario_interpreter
{
class Interpreter : public rclcpp_lifecycle::LifecycleNode,
                    private SimulatorCore::ConditionEvaluation,
                    private SimulatorCore::NonStandardOperation
{
  using Context = openscenario_interpreter_msgs::msg::Context;
 
  const rclcpp_lifecycle::LifecyclePublisher<Context>::SharedPtr publisher_of_context;
 
  rclcpp_lifecycle::LifecyclePublisher<tier4_simulation_msgs::msg::UserDefinedValue>::SharedPtr
    evaluate_time_publisher;
 
  rclcpp_lifecycle::LifecyclePublisher<tier4_simulation_msgs::msg::UserDefinedValue>::SharedPtr
    update_time_publisher;
 
  rclcpp_lifecycle::LifecyclePublisher<tier4_simulation_msgs::msg::UserDefinedValue>::SharedPtr
    output_time_publisher;
 
  double local_frame_rate;
 
  double local_real_time_factor;
 
  String osc_path;
 
  String output_directory;
 
  bool publish_empty_context;
 
  bool record;
 
  String record_storage_id;
 
  std::shared_ptr<OpenScenario> script;
 
  std::list<std::shared_ptr<ScenarioDefinition>> scenarios;
 
  std::shared_ptr<rclcpp::TimerBase> timer;
 
  common::JUnit5 results;
 
  boost::variant<common::junit::Pass, common::junit::Failure, common::junit::Error> result;
 
  ExecutionTimer<> execution_timer;
 
  using Result = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
  bool waiting_for_engagement_to_be_completed = false;  // NOTE: DIRTY HACK!!!
 
public:
  OPENSCENARIO_INTERPRETER_PUBLIC
  explicit Interpreter(const rclcpp::NodeOptions &);
 
  ~Interpreter() override;
 
  auto currentLocalFrameRate() const -> std::chrono::milliseconds;
 
  auto currentScenarioDefinition() const -> const std::shared_ptr<ScenarioDefinition> &;
 
  auto engage() const -> void;
 
  auto engageable() const -> bool;
 
  auto engaged() const -> bool;
 
  auto makeCurrentConfiguration() const -> traffic_simulator::Configuration;
 
  auto on_activate(const rclcpp_lifecycle::State &) -> Result override;
 
  auto on_cleanup(const rclcpp_lifecycle::State &) -> Result override;
 
  auto on_configure(const rclcpp_lifecycle::State &) -> Result override;
 
  auto on_deactivate(const rclcpp_lifecycle::State &) -> Result override;
 
  auto on_error(const rclcpp_lifecycle::State &) -> Result override;
 
  auto on_shutdown(const rclcpp_lifecycle::State &) -> Result override;
 
  auto publishCurrentContext() const -> void;
 
  auto reset() -> void;
 
  template <typename T, typename... Ts>
  auto set(Ts &&... xs) -> void
  {
    result = T(std::forward<decltype(xs)>(xs)...);
 
    results.name = boost::filesystem::path(osc_path).parent_path().parent_path().string();
 
    const auto suite_name = boost::filesystem::path(osc_path).parent_path().filename().string();
 
    const auto case_name = boost::filesystem::path(osc_path).stem().string();
 
    boost::apply_visitor(
      overload(
        [&](const common::junit::Pass & it) {
          results.testsuite(suite_name).testcase(case_name).pass.push_back(it);
        },
        [&](const common::junit::Failure & it) {
          results.testsuite(suite_name).testcase(case_name).failure.push_back(it);
        },
        [&](const common::junit::Error & it) {
          results.testsuite(suite_name).testcase(case_name).error.push_back(it);
        }),
      result);
 
    results.write_to(
      (boost::filesystem::path(output_directory) / "result.junit.xml").c_str(), "  ");
  }
 
  template <typename ExceptionHandler, typename Thunk>
  auto withExceptionHandler(ExceptionHandler && handle, Thunk && thunk) -> decltype(auto)
  {
    try {
      return thunk();
    }
 
    catch (const SpecialAction<EXIT_SUCCESS> & action)  // from CustomCommandAction::exitSuccess
    {
      set<common::junit::Pass>();
      return handle(action);
    }
 
    catch (const SpecialAction<EXIT_FAILURE> & action)  // from CustomCommandAction::exitFailure
    {
      set<common::junit::Failure>("SimulationFailure", action.what());
      return handle(action);
    }
 
    catch (const AutowareError & error) {
      set<common::junit::Error>("AutowareError", error.what());
      return handle(error);
    }
 
    catch (const SemanticError & error) {
      set<common::junit::Error>("SemanticError", error.what());
      return handle(error);
    }
 
    catch (const SimulationError & error) {
      set<common::junit::Error>("SimulationError", error.what());
      return handle(error);
    }
 
    catch (const SyntaxError & error) {
      set<common::junit::Error>("SyntaxError", error.what());
      return handle(error);
    }
 
    catch (const std::exception & error)  // NOTE: MUST BE LAST OF CATCH STATEMENTS.
    {
      set<common::junit::Error>("InternalError", error.what());
      return handle(error);
    }
 
    catch (...)  // FINAL BARRIER
    {
      set<common::junit::Error>("UnknownError", "An unknown exception has occurred");
      return handle();
    }
  }
};
}  // namespace openscenario_interpreter
 
#endif  // OPENSCENARIO_INTERPRETER__OPENSCENARIO_INTERPRETER_HPP_