Feature/context gamma

.github/workflows/custom_spell.json

@@ -13,41 +13,56 @@
     "DBUILD",
     "denormalize",
     "denormalized",
+    "Dinesh",
     "DWITH_INTEGRATION_TEST",
     "engageable",
     "euclidian",
     "gcda",
     "gcno",
     "gcovr",
+    "Kotaro",
     "libunwind",
     "linelint",
+    "localca",
+    "Manocha",
     "Mersenne",
     "Monic",
     "Moszynski",
     "npcs",
     "NSPACES",
+    "Obst",
     "okta",
     "oktas",
     "oneof",
     "parametersetaction",
+    "Parapura",
     "Petrich",
     "piotr",
+    "PLANNE",
     "pluggable",
     "PREDEF",
     "protos",
     "pyproject",
     "randomizer",
     "randomizers",
+    "roadmaps",
+    "RVOSIMULATOR",
+    "Snape",
     "sonarcloud",
     "sonarqube",
     "subspline",
+    "Szymon",
     "TESTRANDOMIZER",
+    "nextgoal",
+    "goalposes",
     "travelling",
     "Tschirnhaus",
+    "VISUALIZEMARKER",
     "walltime",
+    "whatsnew",
+    "xcodeproj",
     "xerces",
     "xercesc",
-    "Szymon",
-    "Parapura"
+    "Yoshimoto"
   ]
 }

mock/context_gamma_scenarios/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.5)
+project(context_gamma_scenarios)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+add_definitions("-DBOOST_ALLOW_DEPRECATED_HEADERS")
+
+# find dependencies
+find_package(ament_cmake_auto REQUIRED)
+include(FindProtobuf REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+option(BUILD_CPP_MOCK_SCENARIOS "Building the C++ scenarios" OFF)
+if(BUILD_CPP_MOCK_SCENARIOS)
+  add_subdirectory(src/context_gamma_planner)
+
+endif()
+
+install(
+  DIRECTORY launch rviz
+  DESTINATION share/${PROJECT_NAME})
+install(
+  FILES cmake/add_context_gamma_scenario_test.cmake
+  DESTINATION share/${PROJECT_NAME}/cmake)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  include(cmake/add_context_gamma_scenario_test.cmake)
+  # add_context_gamma_scenario_test(${PROJECT_NAME} "traffic_simulation_context_gamma_demo" "70")
+endif()
+
+ament_auto_package(CONFIG_EXTRAS "${PROJECT_NAME}_ament_cmake-extras.cmake")

mock/context_gamma_scenarios/cmake/add_context_gamma_scenario_test.cmake

@@ -0,0 +1,39 @@
+# Copyright 2021 TIER IV, Inc.
+#
+# 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.
+
+find_package(ament_cmake_test REQUIRED)
+#
+# Add a launch test
+#
+# :param scenario: name of the scenario you want to run
+function(add_context_gamma_scenario_test package_name scenario timeout)
+  set(cmd
+    "ros2"
+    "launch"
+    "context_gamma_scenarios"
+    "mock_test.launch.py"
+    "package:=${package_name}"
+    "scenario:=${scenario}"
+    "timeout:=${timeout}"
+    "junit_path:=${CMAKE_BINARY_DIR}/test_results/${package_name}/${package_name}_${scenario}.xunit.xml"
+  )
+
+  ament_add_test(
+    "${package_name}_${scenario}"
+    COMMAND ${cmd}
+    OUTPUT_FILE "${CMAKE_BINARY_DIR}/test_results/${package_name}/${package_name}_${scenario}.output.txt"
+    RESULT_FILE "${CMAKE_BINARY_DIR}/test_results/${package_name}/${package_name}_${scenario}.xunit.xml"
+    TIMEOUT "180"
+  )
+endfunction()

mock/context_gamma_scenarios/context_gamma_scenarios_ament_cmake-extras.cmake

@@ -0,0 +1,17 @@
+# Copyright 2021 TIER IV, Inc.
+#
+# 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.
+
+find_package(ament_cmake_test REQUIRED)
+
+include("${context_gamma_scenarios_DIR}/add_context_gamma_scenario_test.cmake")