Merge remote-tracking branch 'origin/master' into RJD-736/autoware_ms…

…gs_support_and_localization_sim_mode_support Signed-off-by: yamacir-kit <[email protected]>
tier4 · Dec 13, 2024 · 23f1d59 · 23f1d59
2 parents d3a86e7 + 3255cef
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diff --git a/common/math/arithmetic/CHANGELOG.rst b/common/math/arithmetic/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package arithmetic
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge branch 'master' into fix/request-enable-autoware-control

diff --git a/common/math/arithmetic/package.xml b/common/math/arithmetic/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>arithmetic</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>arithmetic library for scenario_simulator_v2</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/math/geometry/CHANGELOG.rst b/common/math/geometry/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package geometry
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge branch 'master' into fix/request-enable-autoware-control

diff --git a/common/math/geometry/package.xml b/common/math/geometry/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>geometry</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>geometry math library for scenario_simulator_v2 application</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/scenario_simulator_exception/CHANGELOG.rst b/common/scenario_simulator_exception/CHANGELOG.rst
@@ -21,6 +21,15 @@ Changelog for package scenario_simulator_exception
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge pull request `#1486 <https://github.com/tier4/scenario_simulator_v2/issues/1486>`_ from tier4/fix/speed-condition/backward-compatibility
+  Fix/speed condition/backward compatibility
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Add new parameter `speed_condition` to switch compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge branch 'master' into fix/request-enable-autoware-control

diff --git a/common/scenario_simulator_exception/include/scenario_simulator_exception/concatenate.hpp b/common/scenario_simulator_exception/include/scenario_simulator_exception/concatenate.hpp
@@ -25,12 +25,8 @@ namespace common
 inline namespace scenario_simulator_exception
 {
 inline auto concatenate = [](auto &&... xs) {
-  auto write = [](auto && os, auto && x) {
-    os.get() << std::forward<decltype(x)>(x);
-    return std::forward<decltype(os)>(os);
-  };
   std::stringstream result;
-  fold_left(write, std::ref(result), std::forward<decltype(xs)>(xs)...);
+  (result << ... << std::forward<decltype(xs)>(xs));
   return result.str();
 };
 }  // namespace scenario_simulator_exception

diff --git a/common/scenario_simulator_exception/package.xml b/common/scenario_simulator_exception/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>scenario_simulator_exception</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>Exception types for scenario simulator</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/common/simple_junit/CHANGELOG.rst b/common/simple_junit/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package junit_exporter
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge branch 'master' into fix/request-enable-autoware-control

diff --git a/common/simple_junit/package.xml b/common/simple_junit/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_junit</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>Lightweight JUnit library for ROS 2</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>

diff --git a/common/status_monitor/CHANGELOG.rst b/common/status_monitor/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package status_monitor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge branch 'master' into fix/request-enable-autoware-control

diff --git a/common/status_monitor/package.xml b/common/status_monitor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>status_monitor</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>none</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/concealer/CHANGELOG.rst b/external/concealer/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package concealer
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge pull request `#1465 <https://github.com/tier4/scenario_simulator_v2/issues/1465>`_ from tier4/fix/request-enable-autoware-control

diff --git a/external/concealer/package.xml b/external/concealer/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>concealer</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>Provides a class 'Autoware' to conceal miscellaneous things to simplify Autoware management of the simulator.</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/external/embree_vendor/CHANGELOG.rst b/external/embree_vendor/CHANGELOG.rst
@@ -24,6 +24,12 @@ Changelog for package embree_vendor
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge branch 'master' into fix/request-enable-autoware-control

diff --git a/external/embree_vendor/package.xml b/external/embree_vendor/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>embree_vendor</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>vendor packages for intel raytracing kernel library</description>
   <maintainer email="[email protected]">masaya</maintainer>
   <license>Apache 2.0</license>

diff --git a/map/kashiwanoha_map/CHANGELOG.rst b/map/kashiwanoha_map/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package kashiwanoha_map
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge branch 'master' into fix/request-enable-autoware-control

diff --git a/map/kashiwanoha_map/package.xml b/map/kashiwanoha_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>kashiwanoha_map</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>map package for kashiwanoha</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/map/simple_cross_map/CHANGELOG.rst b/map/simple_cross_map/CHANGELOG.rst
@@ -9,6 +9,12 @@ Changelog for package simple_cross_map
 * Merge branch 'master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge branch 'master' into fix/request-enable-autoware-control

diff --git a/map/simple_cross_map/package.xml b/map/simple_cross_map/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simple_cross_map</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>map package for simple cross</description>
   <maintainer email="[email protected]">Masaya Kataoka</maintainer>
   <license>Apache License 2.0</license>

diff --git a/mock/cpp_mock_scenarios/CHANGELOG.rst b/mock/cpp_mock_scenarios/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package cpp_mock_scenarios
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge branch 'master' into fix/request-enable-autoware-control

diff --git a/mock/cpp_mock_scenarios/package.xml b/mock/cpp_mock_scenarios/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>cpp_mock_scenarios</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>C++ mock scenarios</description>
   <maintainer email="[email protected]">masaya</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_experimental_catalog/CHANGELOG.rst b/openscenario/openscenario_experimental_catalog/CHANGELOG.rst
@@ -21,6 +21,12 @@ Changelog for package openscenario_experimental_catalog
 * Merge remote-tracking branch 'origin/master' into feature/publish_empty_context
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge branch 'master' into fix/request-enable-autoware-control

diff --git a/openscenario/openscenario_experimental_catalog/package.xml b/openscenario/openscenario_experimental_catalog/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_experimental_catalog</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>TIER IV experimental catalogs for OpenSCENARIO</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter/CHANGELOG.rst b/openscenario/openscenario_interpreter/CHANGELOG.rst
@@ -32,6 +32,16 @@ Changelog for package openscenario_interpreter
 * add publish_empty_context parameter
 * Contributors: Masaya Kataoka
 
+7.0.4 (2024-12-13)
+------------------
+* Merge pull request `#1486 <https://github.com/tier4/scenario_simulator_v2/issues/1486>`_ from tier4/fix/speed-condition/backward-compatibility
+  Fix/speed condition/backward compatibility
+* Merge branch 'master' into fix/speed-condition/backward-compatibility
+* Merge remote-tracking branch 'origin/master' into fix/speed-condition/backward-compatibility
+* Add new parameter `speed_condition` to switch compatibility
+* Add new enumeration `Compatibility`
+* Contributors: Tatsuya Yamasaki, yamacir-kit
+
 7.0.3 (2024-12-13)
 ------------------
 * Merge branch 'master' into fix/request-enable-autoware-control

diff --git a/openscenario/openscenario_interpreter/CMakeLists.txt b/openscenario/openscenario_interpreter/CMakeLists.txt
@@ -59,8 +59,9 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   ${${PROJECT_NAME}_POSIX_SOURCES}
   ${${PROJECT_NAME}_SYNTAX_SOURCES}
   ${${PROJECT_NAME}_UTILITY_SOURCES}
-  src/object.cpp
+  src/compatibility.cpp
   src/evaluate.cpp
+  src/object.cpp
   src/openscenario_interpreter.cpp
   src/record.cpp
   src/scope.cpp)

diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/compatibility.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/compatibility.hpp
@@ -0,0 +1,30 @@
+// 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__COMPATIBILITY_HPP_
+#define OPENSCENARIO_INTERPRETER__COMPATIBILITY_HPP_
+
+#include <iostream>
+
+namespace openscenario_interpreter
+{
+enum class Compatibility {
+  legacy,
+  standard,
+};
+
+auto operator>>(std::istream &, Compatibility &) -> std::istream &;
+}  // namespace openscenario_interpreter
+
+#endif  // OPENSCENARIO_INTERPRETER__COMPATIBILITY_HPP_
diff --git a/...ario/openscenario_interpreter/include/openscenario_interpreter/syntax/speed_condition.hpp b/...ario/openscenario_interpreter/include/openscenario_interpreter/syntax/speed_condition.hpp
@@ -15,6 +15,7 @@
 #ifndef OPENSCENARIO_INTERPRETER__SYNTAX__SPEED_CONDITION_HPP_
 #define OPENSCENARIO_INTERPRETER__SYNTAX__SPEED_CONDITION_HPP_
 
+#include <openscenario_interpreter/compatibility.hpp>
 #include <openscenario_interpreter/scope.hpp>
 #include <openscenario_interpreter/simulator_core.hpp>
 #include <openscenario_interpreter/syntax/directional_dimension.hpp>
@@ -63,14 +64,17 @@ struct SpeedCondition : private Scope, private SimulatorCore::ConditionEvaluatio
 
   std::vector<std::valarray<double>> results;  // for description
 
+  static inline auto compatibility = Compatibility::legacy;
+
   explicit SpeedCondition(const pugi::xml_node &, Scope &, const TriggeringEntities &);
 
   auto description() const -> String;
 
   static auto evaluate(const Entities *, const Entity &) -> Eigen::Vector3d;
 
   static auto evaluate(
-    const Entities *, const Entity &, const std::optional<DirectionalDimension> &) -> double;
+    const Entities *, const Entity &, const std::optional<DirectionalDimension> &,
+    const Compatibility = Compatibility::legacy) -> double;
 
   auto evaluate() -> Object;
 };

diff --git a/openscenario/openscenario_interpreter/package.xml b/openscenario/openscenario_interpreter/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>openscenario_interpreter</name>
-  <version>7.0.3</version>
+  <version>7.0.4</version>
   <description>OpenSCENARIO 1.2.0 interpreter package for Autoware</description>
   <maintainer email="[email protected]">Tatsuya Yamasaki</maintainer>
   <license>Apache License 2.0</license>

diff --git a/openscenario/openscenario_interpreter/src/compatibility.cpp b/openscenario/openscenario_interpreter/src/compatibility.cpp
@@ -0,0 +1,38 @@
+// 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_interpreter/compatibility.hpp>
+
+namespace openscenario_interpreter
+{
+auto operator>>(std::istream & input, Compatibility & compatiblity) -> std::istream &
+{
+  if (auto token = std::string(); input >> token) {
+    if (token == "legacy") {
+      compatiblity = Compatibility::legacy;
+      return input;
+    } else if (token == "standard") {
+      compatiblity = Compatibility::standard;
+      return input;
+    } else {
+      throw Error(
+        "Unknown compatiblity ", std::quoted(token),
+        " was specified. It must be \"legacy\" or \"standard\".");
+    }
+  } else {
+    compatiblity = Compatibility::legacy;
+    return input;
+  }
+}
+}  // namespace openscenario_interpreter