Feature/context gamma

mock/cpp_mock_scenarios/CMakeLists.txt

@@ -42,6 +42,7 @@ option(BUILD_CPP_MOCK_SCENARIOS "Building the C++ scenarios" OFF)
 if(BUILD_CPP_MOCK_SCENARIOS)
   add_subdirectory(src/behavior_plugin)
   add_subdirectory(src/collision)
+  add_subdirectory(src/context_gamma_planner)
   add_subdirectory(src/crosswalk)
   add_subdirectory(src/follow_front_entity)
   add_subdirectory(src/follow_lane)

mock/cpp_mock_scenarios/package.xml

@@ -20,6 +20,7 @@
   <exec_depend>openscenario_visualization</exec_depend>
   <exec_depend>scenario_test_runner</exec_depend>
   <exec_depend>behavior_tree_plugin</exec_depend>
+  <exec_depend>context_gamma_planner</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_cmake_clang_format</test_depend>

mock/cpp_mock_scenarios/src/context_gamma_planner/CMakeLists.txt

@@ -0,0 +1,252 @@
+ament_auto_add_executable(spawn
+  spawn.cpp
+)
+target_link_libraries(spawn
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(stop_at_crosswalk
+  stop_at_crosswalk.cpp
+)
+target_link_libraries(stop_at_crosswalk
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(parked_at_crosswalk
+  parked_at_crosswalk.cpp
+)
+target_link_libraries(parked_at_crosswalk
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(reverse_walk_at_road
+  reverse_walk_at_road.cpp
+)
+target_link_libraries(reverse_walk_at_road
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(pedestrian_follow_lane
+  pedestrian_follow_lane.cpp
+)
+target_link_libraries(pedestrian_follow_lane
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(stop_line_running
+  stop_line_running.cpp
+)
+target_link_libraries(stop_line_running
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(traffic_light_running
+  traffic_light_running.cpp
+)
+target_link_libraries(traffic_light_running
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(head_on_pedestrian
+head_on_pedestrian.cpp
+)
+target_link_libraries(head_on_pedestrian
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(adaptive_cruise
+adaptive_cruise.cpp
+)
+target_link_libraries(adaptive_cruise
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(follow_trajectory
+follow_trajectory.cpp
+)
+target_link_libraries(follow_trajectory
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(follow_trajectory_closed
+follow_trajectory_closed.cpp
+)
+target_link_libraries(follow_trajectory_closed
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(lane_change_time
+lane_change_time.cpp
+)
+target_link_libraries(lane_change_time
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(lane_change_lateral
+lane_change_lateral.cpp
+)
+target_link_libraries(lane_change_lateral
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(lane_change_longitudinal
+lane_change_longitudinal.cpp
+)
+target_link_libraries(lane_change_longitudinal
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(follow_trajectory_dynamic_constraints
+follow_trajectory_dynamic_constraints.cpp
+)
+target_link_libraries(follow_trajectory_dynamic_constraints
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+ament_auto_add_executable(road_end
+road_end.cpp
+)
+target_link_libraries(road_end
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
+
+if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0)
+  target_compile_definitions(spawn PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(stop_at_crosswalk PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(parked_at_crosswalk PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(reverse_walk_at_road PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(pedestrian_follow_lane PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(stop_line_running PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(traffic_light_running PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(head_on_pedestrian PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(adaptive_cruise PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(follow_trajectory PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(follow_trajectory_closed PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(lane_change_time PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(lane_change_lateral PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(lane_change_longitudinal PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(follow_trajectory_dynamic_constraints PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+  target_compile_definitions(road_end PUBLIC
+    USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER
+  )
+endif()
+
+install(TARGETS
+  stop_at_crosswalk
+  parked_at_crosswalk
+  reverse_walk_at_road
+  spawn
+  pedestrian_follow_lane
+  stop_line_running
+  traffic_light_running
+  head_on_pedestrian
+  adaptive_cruise
+  follow_trajectory
+  follow_trajectory_closed
+  lane_change_time
+  lane_change_lateral
+  lane_change_longitudinal
+  follow_trajectory_dynamic_constraints
+  road_end
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  include(./cmake/add_cpp_mock_scenario_test.cmake)
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "spawn" "20.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "parked_at_crosswalk" "60.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "pedestrian_follow_lane" "60.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "reverse_walk_at_road" "120.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "stop_at_crosswalk" "40.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "stop_line_running" "200.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "traffic_light_running" "30.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "head_on_pedestrian" "60.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "adaptive_cruise" "120.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "follow_trajectory" "40.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "follow_trajectory_closed" "80.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "lane_change_time" "20.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "lane_change_lateral" "20.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "lane_change_longitudinal" "20.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "follow_trajectory_dynamic_constraints" "40.0")
+  add_cpp_mock_scenario_test(${PROJECT_NAME} "road_end" "30.0")
+endif()