feat(preprocessor,interpreter): support ParameterValueDistribution

common/scenario_simulator_exception/include/scenario_simulator_exception/concatenate.hpp

@@ -36,4 +36,4 @@ inline auto concatenate = [](auto &&... xs) {
 }  // namespace scenario_simulator_exception
 }  // namespace common
 
-#endif  // OPENSCENARIO_INTERPRETER__CONCATENATE_HPP_
+#endif  // SCENARIO_SIMULATOR_EXCEPTION__CONCATENATE_HPP_

common/scenario_simulator_exception/include/scenario_simulator_exception/fold.hpp

@@ -52,4 +52,4 @@ constexpr decltype(auto) fold_right(F && f, T && x, Ts &&... xs)
 }  // namespace scenario_simulator_exception
 }  // namespace common
 
-#endif  // OPENSCENARIO_INTERPRETER__FOLD_HPP_
+#endif  // SCENARIO_SIMULATOR_EXCEPTION__FOLD_HPP_

docs/release/ReleaseNotes.md

@@ -117,6 +117,8 @@ Major Changes :race_car: :red_car: :blue_car:
 | UserDefinedValueCondition `RelativeHeadingCondition`                 | Added one-argument version to `RelativeHeadingCondition`. This version of `RelativeHeadingCondition` returns the lane coordinate system heading of the entity with the name given in the first argument. | `openscenario_interpreter` | [#978](https://github.com/tier4/scenario_simulator_v2/pull/978) | [yamacir-kit](https://github.com/yamacir-kit) |
 | OpenSCENARIO 1.2 `Controller.Properties.Property`                    | Added support for delaying the publication of object detection data by setting the value `detectedObjectPublishingDelay` (in seconds) to `Controller.Properties.Property`.                               | `openscenario_interpreter` | [#986](https://github.com/tier4/scenario_simulator_v2/pull/986) | [yamacir-kit](https://github.com/yamacir-kit) |
 | OpenSCENARIO 1.2 `EnvironmentAction`                                 | The parsing of `EnvironmentAction` is now supported                                                                                                                                                      | `openscenario_interpreter` | [#980](https://github.com/tier4/scenario_simulator_v2/pull/980) | [f0reachARR](https://github.com/f0reachARR)   |
+| OpenSCENARIO 1.2 `ParameterValueDistribution`                        | Start supporting parameter sweeping using official OpenSCENARIO feature ( it was supported by TIER IV V2 format previously)                                                                              | `openscenario_interpreter`, `openscenario_preprocessor` | [#878](https://github.com/tier4/scenario_simulator_v2/pull/878) | [HansRobo](https://github.com/HansRobo)       |
+
 
 Bug Fixes:bug:
 

openscenario/openscenario_interpreter/CMakeLists.txt

@@ -29,6 +29,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/object.cpp
   src/evaluate.cpp
   src/openscenario_interpreter.cpp
+  src/parameter_distribution.cpp
   src/record.cpp
   src/scope.cpp)
 
@@ -46,6 +47,10 @@ install(
   FILES ${CMAKE_CURRENT_SOURCE_DIR}/features
   DESTINATION lib/${PROJECT_NAME})
 
+install(
+  DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/test
+  DESTINATION share/${PROJECT_NAME})
+
 # ------------------------------------------------------------------------------
 #  test
 # ------------------------------------------------------------------------------
@@ -54,7 +59,9 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
   ament_add_gtest(test_syntax test/test_syntax.cpp)
+  ament_add_gtest(test_parameter_value_distribution test/test_parameter_value_distribution.cpp)
   target_link_libraries(test_syntax ${PROJECT_NAME})
+  target_link_libraries(test_parameter_value_distribution ${PROJECT_NAME})
 endif()
 
 ament_auto_package()

openscenario/openscenario_interpreter/include/openscenario_interpreter/parameter_distribution.hpp

@@ -0,0 +1,88 @@
+// 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__PARAMETER_DISTRIBUTION_HPP_
+#define OPENSCENARIO_INTERPRETER__PARAMETER_DISTRIBUTION_HPP_
+
+#include <memory>
+#include <openscenario_interpreter/object.hpp>
+#include <scenario_simulator_exception/exception.hpp>
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+namespace openscenario_interpreter
+{
+// parameter set like {a: 1.0, b: 2.0,...}
+using ParameterSet = std::unordered_map<std::string, Object>;
+using ParameterSetSharedPtr = std::shared_ptr<ParameterSet>;
+// list of ParameterList
+using ParameterDistribution = std::vector<ParameterSetSharedPtr>;
+using SingleUnnamedParameterDistribution = std::vector<Object>;
+
+// TODO(HansRobo): implement parallel derivable parameter distribution with this base struct
+struct ParallelDerivableParameterValueDistributionBase
+{
+  virtual auto derive(
+    std::size_t local_index, std::size_t local_size, std::size_t global_index,
+    std::size_t global_size) -> ParameterSet = 0;
+
+  virtual auto getNumberOfDeriveScenarios() const -> std::size_t
+  {
+    throw Error("getNumberOfDeriveScenarios() is not implemented");
+  }
+};
+
+// generator types distribution
+struct SingleParameterDistributionBase
+{
+  virtual auto derive() -> SingleUnnamedParameterDistribution = 0;
+};
+
+struct MultiParameterDistributionBase
+{
+  virtual auto derive() -> ParameterDistribution = 0;
+};
+
+struct StochasticParameterDistributionBase
+{
+  virtual auto derive() -> Object = 0;
+};
+
+// container types of distribution data generator
+struct ParameterDistributionContainer
+{
+  virtual auto derive() -> ParameterDistribution = 0;
+};
+
+auto mergeParameterDistribution(
+  const ParameterDistribution & distribution, const ParameterDistribution & additional_distribution)
+  -> ParameterDistribution;
+
+template <typename DistributionT>
+ParameterDistribution mergeParameterDistributionList(
+  const ParameterDistribution & base_distribution,
+  const std::list<DistributionT> & distribution_list)
+{
+  ParameterDistribution merged_distribution{base_distribution};
+  for (const auto & additional_distribution : distribution_list) {
+    merged_distribution = mergeParameterDistribution(
+      merged_distribution,
+      apply(
+        [](const auto & distribution) { return distribution.derive(); }, additional_distribution));
+  }
+  return merged_distribution;
+}
+}  // namespace openscenario_interpreter
+#endif  // OPENSCENARIO_INTERPRETER__PARAMETER_DISTRIBUTION_HPP_

openscenario/openscenario_interpreter/include/openscenario_interpreter/scope.hpp

@@ -24,6 +24,7 @@
 #include <openscenario_interpreter/syntax/catalog_locations.hpp>
 #include <openscenario_interpreter/syntax/entity_ref.hpp>
 #include <openscenario_interpreter/utility/demangle.hpp>
+#include <random>
 #include <unordered_map>
 #include <utility>
 #include <vector>
@@ -192,7 +193,8 @@ class Scope
 
   std::list<EntityRef> actors;
 
-  double seed;  // NOTE: `seed` is used only for sharing randomSeed in Stochastic now
+  // NOTE: `random_engine` is used only for sharing random number generator in Stochastic now
+  std::default_random_engine random_engine;
 
   Scope() = delete;
 

openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/deterministic.hpp

@@ -12,9 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OPENSCENARIO_INTERPRETER__DETERMINISTIC_HPP_
-#define OPENSCENARIO_INTERPRETER__DETERMINISTIC_HPP_
+#ifndef OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_HPP_
+#define OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_HPP_
 
+#include <openscenario_interpreter/parameter_distribution.hpp>
 #include <openscenario_interpreter/scope.hpp>
 #include <openscenario_interpreter/syntax/deterministic_parameter_distribution.hpp>
 #include <pugixml.hpp>
@@ -23,21 +24,25 @@ namespace openscenario_interpreter
 {
 inline namespace syntax
 {
-/* ---- Deterministic 1.2 ------------------------------------------------------
- *
- *  <xsd:complexType name="Deterministic">
- *    <xsd:sequence>
- *      <xsd:group ref="DeterministicParameterDistribution" minOccurs="0" maxOccurs="unbounded"/>
- *    </xsd:sequence>
- *  </xsd:complexType>
- *
- * -------------------------------------------------------------------------- */
-struct Deterministic
+/*
+   Deterministic (OpenSCENARIO XML 1.3)
+
+   Top level container containing all deterministic distribution elements.
+
+   <xsd:complexType name="Deterministic">
+     <xsd:sequence>
+       <xsd:group ref="DeterministicParameterDistribution" minOccurs="0" maxOccurs="unbounded"/>
+     </xsd:sequence>
+   </xsd:complexType>
+*/
+struct Deterministic : public ParameterDistributionContainer
 {
   const std::list<DeterministicParameterDistribution> deterministic_parameter_distributions;
 
   explicit Deterministic(const pugi::xml_node &, Scope & scope);
+
+  auto derive() -> ParameterDistribution override;
 };
 }  // namespace syntax
 }  // namespace openscenario_interpreter
-#endif  // OPENSCENARIO_INTERPRETER__DETERMINISTIC_HPP_
+#endif  // OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_HPP_

openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/deterministic_multi_parameter_distribution.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OPENSCENARIO_INTERPRETER__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_HPP_
-#define OPENSCENARIO_INTERPRETER__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_HPP_
+#ifndef OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_HPP_
+#define OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_HPP_
 
 #include <openscenario_interpreter/scope.hpp>
 #include <openscenario_interpreter/syntax/deterministic_multi_parameter_distribution_type.hpp>
@@ -23,19 +23,24 @@ namespace openscenario_interpreter
 {
 inline namespace syntax
 {
-/* ---- DeterministicMultiParameterDistribution 1.2 ----------------------------
- *
- *  <xsd:complexType name="DeterministicMultiParameterDistribution">
- *    <xsd:sequence>
- *      <xsd:group ref="DeterministicMultiParameterDistributionType"/>
- *    </xsd:sequence>
- *  </xsd:complexType>
- *
- * -------------------------------------------------------------------------- */
-struct DeterministicMultiParameterDistribution : public DeterministicMultiParameterDistributionType
+/*
+   DeterministicMultiParameterDistribution (OpenSCENARIO XML 1.3)
+
+   Container for a deterministic distribution which is applied to multiple parameters.
+
+ <xsd:complexType name="DeterministicMultiParameterDistribution">
+   <xsd:sequence>
+     <xsd:group ref="DeterministicMultiParameterDistributionType"/>
+   </xsd:sequence>
+ </xsd:complexType>
+*/
+struct DeterministicMultiParameterDistribution : public DeterministicMultiParameterDistributionType,
+                                                 public ParameterDistributionContainer
 {
   explicit DeterministicMultiParameterDistribution(const pugi::xml_node &, Scope & scope);
+
+  auto derive() -> ParameterDistribution override;
 };
 }  // namespace syntax
 }  // namespace openscenario_interpreter
-#endif  // OPENSCENARIO_INTERPRETER__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_HPP_
+#endif  // OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_HPP_

openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/deterministic_multi_parameter_distribution_type.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OPENSCENARIO_INTERPRETER__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_TYPE_HPP_
-#define OPENSCENARIO_INTERPRETER__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_TYPE_HPP_
+#ifndef OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_TYPE_HPP_
+#define OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_TYPE_HPP_
 
 #include <openscenario_interpreter/scope.hpp>
 #include <openscenario_interpreter/syntax/value_set_distribution.hpp>
@@ -23,24 +23,22 @@ namespace openscenario_interpreter
 {
 inline namespace syntax
 {
-/* ---- DeterministicMultiParameterDistributionType 1.2 ------------------------
- *
- *  <xsd:group name="DeterministicMultiParameterDistributionType">
- *    <xsd:sequence>
- *      <xsd:element name="ValueSetDistribution" type="ValueSetDistribution"/>
- *    </xsd:sequence>
- *  </xsd:group>
- *
- * -------------------------------------------------------------------------- */
+/*
+   DeterministicMultiParameterDistributionType (OpenSCENARIO XML 1.3)
+
+   A deterministic distribution type which can be applied to multiple parameters.
+
+   <xsd:group name="DeterministicMultiParameterDistributionType">
+     <xsd:sequence>
+       <xsd:element name="ValueSetDistribution" type="ValueSetDistribution"/>
+     </xsd:sequence>
+   </xsd:group>
+*/
 struct DeterministicMultiParameterDistributionType : public ValueSetDistribution
 {
   explicit DeterministicMultiParameterDistributionType(const pugi::xml_node &, Scope & scope);
 };
 
-//DEFINE_LAZY_VISITOR(
-//  DeterministicMultiParameterDistributionType,
-//  CASE(ValueSetDistribution),     //
-//);
 }  // namespace syntax
 }  // namespace openscenario_interpreter
-#endif  // OPENSCENARIO_INTERPRETER__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_TYPE_HPP_
+#endif  // OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_MULTI_PARAMETER_DISTRIBUTION_TYPE_HPP_

openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/deterministic_parameter_distribution.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef OPENSCENARIO_INTERPRETER__DETERMINISTIC_PARAMETER_DISTRIBUTION_HPP_
-#define OPENSCENARIO_INTERPRETER__DETERMINISTIC_PARAMETER_DISTRIBUTION_HPP_
+#ifndef OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_PARAMETER_DISTRIBUTION_HPP_
+#define OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_PARAMETER_DISTRIBUTION_HPP_
 
 #include <openscenario_interpreter/scope.hpp>
 #include <openscenario_interpreter/syntax/deterministic_multi_parameter_distribution.hpp>
@@ -24,18 +24,18 @@ namespace openscenario_interpreter
 {
 inline namespace syntax
 {
-/* ---- DeterministicParameterDistribution 1.2 ---------------------------------
- *
- *  <xsd:group name="DeterministicParameterDistribution">
- *    <xsd:choice>
- *      <xsd:element name="DeterministicMultiParameterDistribution"
- *        type="DeterministicMultiParameterDistribution"/>
- *      <xsd:element name="DeterministicSingleParameterDistribution"
- *        type="DeterministicSingleParameterDistribution"/>
- *    </xsd:choice>
- *  </xsd:group>
- *
- * -------------------------------------------------------------------------- */
+/*
+   DeterministicParameterDistribution (OpenSCENARIO XML 1.3)
+
+   Either a DeterministicMultiParameterDistribution or a DeterministicSingleParameterDistribution
+
+   <xsd:group name="DeterministicParameterDistribution">
+     <xsd:choice>
+       <xsd:element name="DeterministicMultiParameterDistribution" type="DeterministicMultiParameterDistribution"/>
+       <xsd:element name="DeterministicSingleParameterDistribution" type="DeterministicSingleParameterDistribution"/>
+     </xsd:choice>
+   </xsd:group>
+*/
 struct DeterministicParameterDistribution : public Group
 {
   explicit DeterministicParameterDistribution(const pugi::xml_node &, Scope & scope);
@@ -48,4 +48,4 @@ DEFINE_LAZY_VISITOR(
 );
 }  // namespace syntax
 }  // namespace openscenario_interpreter
-#endif  // OPENSCENARIO_INTERPRETER__DETERMINISTIC_PARAMETER_DISTRIBUTION_HPP_
+#endif  // OPENSCENARIO_INTERPRETER__SYNTAX__DETERMINISTIC_PARAMETER_DISTRIBUTION_HPP_