add additional py-trees-supported composites

.github/workflows/scan.yml

@@ -72,7 +72,7 @@ jobs:
       - name: Check for license tags
         shell: bash
         run: |
-            find . -type f \( -name "*.py" -o -name "*.cpp" -o -name "*.h" \) -exec /go/bin/addlicense -check {} +
+            find . -regextype posix-extended -type f \( \( -name "*.py" -a ! -regex '\./scenario_execution/scenario_execution/osc2_parsing/.*\.py' \) -o -name "*.cpp" -o -name "*.h" \) -exec /go/bin/addlicense -check {} +
       - name: Run ros_license_toolkit for each Package
         shell: bash
         run: |

libs/scenario_execution_network/MANIFEST.in

@@ -0,0 +1 @@
+include scenario_execution_network/lib_osc/*.osc

libs/scenario_execution_network/README.md

@@ -0,0 +1,8 @@
+# Scenario Execution Library for network
+
+The `scenario_execution_network` package provides actions to interact with network services.
+
+It provides the following scenario execution library:
+
+- `network.osc`: Actions specific to network functions
+

libs/scenario_execution_network/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>scenario_execution_network</name>
+  <version>1.3.0</version>
+  <description>Scenario Execution library for network functionality</description>
+  <author email="fred-labs@mailbox.org">Frederik Pasch</author>
+  <maintainer email="fred-labs@mailbox.org">Frederik Pasch</maintainer>
+  <license>Apache-2.0</license>
+
+  <depend>scenario_execution</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

libs/scenario_execution_network/scenario_execution_network/__init__.py

@@ -0,0 +1,21 @@
+# Copyright (C) 2025 Frederik Pasch
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+from . import actions
+
+__all__ = [
+    'actions'
+]

libs/scenario_execution_network/scenario_execution_network/actions/__init__.py

@@ -0,0 +1,15 @@
+# Copyright (C) 2025 Frederik Pasch
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0

libs/scenario_execution_network/scenario_execution_network/actions/http_get.py

@@ -0,0 +1,84 @@
+# Copyright (C) 2025 Frederik Pasch
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+from enum import Enum
+from scenario_execution.actions.base_action import BaseAction
+import py_trees
+from concurrent.futures import ThreadPoolExecutor
+import requests
+
+class RequestStatus(Enum):
+    IDLE = 1
+    REQUESTING = 2
+    DONE = 3
+
+
+class HttpGet(BaseAction):
+    """
+    Class to perform an HTTP GET request asynchronously
+    """
+
+    def __init__(self) -> None:
+        super().__init__()
+        self.response = None
+        self.future = None
+        self.parameters = {}
+        self.executor = ThreadPoolExecutor(max_workers=1)
+        self.current_state = RequestStatus.IDLE
+
+    def execute(self, url: str, parameters: list) -> None:  # pylint: disable=arguments-differ,arguments-renamed
+        self.url = url
+        self.parameters = {}
+        for param in parameters:
+            self.parameters[param["key"]] = param["value"]
+
+    def update(self) -> py_trees.common.Status:
+        if self.current_state == RequestStatus.IDLE:
+            # Start the async HTTP request in a separate thread
+            self.future = self.executor.submit(self._make_request)
+            self.current_state = RequestStatus.REQUESTING
+            return py_trees.common.Status.RUNNING
+
+        elif self.current_state == RequestStatus.REQUESTING:
+            if self.future.done():
+                try:
+                    self.response = self.future.result()
+                    if self.response.status_code == 200:
+                        self.current_state = RequestStatus.DONE
+                        return py_trees.common.Status.SUCCESS
+                    else:
+                        self.logger.error(f"HTTP GET returned status code {self.response.status_code}")
+                        self.current_state = RequestStatus.DONE
+                        return py_trees.common.Status.FAILURE
+                except Exception as e:
+                    self.logger.error(f"HTTP GET request failed: {e}")
+                    return py_trees.common.Status.FAILURE
+            else:
+                return py_trees.common.Status.RUNNING
+
+        elif self.current_state == RequestStatus.DONE:
+            return py_trees.common.Status.SUCCESS
+
+        return py_trees.common.Status.FAILURE
+
+    def _make_request(self):
+        """Make the HTTP request synchronously in a thread pool"""
+        return requests.get(self.url, params=self.parameters)
+
+    def shutdown(self):
+        """Clean up the thread pool on shutdown"""
+        if self.executor:
+            self.executor.shutdown(wait=False)

libs/scenario_execution_network/scenario_execution_network/get_osc_library.py

@@ -0,0 +1,19 @@
+# Copyright (C) 2025 Frederik Pasch
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+
+def get_osc_library():
+    return 'scenario_execution_network', 'network.osc'

libs/scenario_execution_network/scenario_execution_network/lib_osc/network.osc

@@ -0,0 +1,10 @@
+import osc.types
+
+###########
+# Actions
+###########
+
+action http_get:
+    # Perform an HTTP GET request to the specified URL
+    url: string                          # URL to send the GET request to
+    parameters: list of key_value            # Optional query parameters for the request

libs/scenario_execution_network/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/scenario_execution_network
+[install]
+install_scripts=$base/lib/scenario_execution_network

libs/scenario_execution_network/setup.py

@@ -0,0 +1,47 @@
+# Copyright (C) 2025 Frederik Pasch
+#
+# 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.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+from setuptools import find_namespace_packages, setup
+
+PACKAGE_NAME = 'scenario_execution_network'
+
+setup(
+    name=PACKAGE_NAME,
+    version='1.3.0',
+    packages=find_namespace_packages(),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + PACKAGE_NAME]),
+        ('share/' + PACKAGE_NAME, ['package.xml'])
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Frederik Pasch',
+    maintainer_email='fred-labs@mailbox.org',
+    description='Scenario Execution library for network functionality',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    include_package_data=True,
+    entry_points={
+        'scenario_execution.actions': [
+            'http_get = scenario_execution_network.actions.http_get:HttpGet',
+        ],
+        'scenario_execution.osc_libraries': [
+            'network = '
+            'scenario_execution_network.get_osc_library:get_osc_library',
+        ]
+    },
+)

scenario_execution/scenario_execution/model/model_to_py_tree.py

@@ -163,6 +163,13 @@ def visit_do_member(self, node: DoMember):
                 behavior = py_trees.composites.Parallel(name=name, policy=py_trees.common.ParallelPolicy.SuccessOnAll())
             elif composition_operator == "one_of":
                 behavior = py_trees.composites.Parallel(name=name, policy=py_trees.common.ParallelPolicy.SuccessOnOne())
+            # support for composites not available in osc2
+            elif composition_operator == "selector":
+                behavior = py_trees.composites.Selector(name=name, memory=True)
+            elif composition_operator == "selector_no_memory":
+                behavior = py_trees.composites.Selector(name=name, memory=False)
+            elif composition_operator == "serial_no_memory":
+                behavior = py_trees.composites.Sequence(name=name, memory=False)
             else:
                 raise NotImplementedError(f"scenario operator {composition_operator} not yet supported.")
 

scenario_execution/scenario_execution/model/osc2_parser.py

@@ -31,16 +31,28 @@
 
 
 class OpenScenario2Parser(object):
-    """ Helper class for parsing openscenario 2 files """
+    """ 
+    Helper class for parsing OpenSCENARIO 2 files with optional extensions.
+
+    File extension determines default extension behavior:
+    - .osc files: Standard OpenSCENARIO 2 (extensions=False)
+    - .scx files: OpenSCENARIO 2 + Extensions (extensions=True)
+
+    Extensions can be explicitly overridden via enable_extensions parameter.
+    """
 
     def __init__(self, logger) -> None:
         self.logger = logger
         self.parsed_files = []
 
-    def process_file(self, file, log_model: bool = False, debug: bool = False, scenario_parameter_overrides: dict = None):
+    def process_file(self, file, log_model: bool = False, debug: bool = False, scenario_parameter_overrides: dict = None, enable_extensions: bool = None):
         """ Convenience method to execute the parsing and print out tree """
 
-        parsed_model = self.parse_file(file, log_model)
+        # Auto-detect extensions based on file extension if not explicitly set
+        if enable_extensions is None:
+            enable_extensions = file.lower().endswith('.scx')
+
+        parsed_model = self.parse_file(file, log_model, enable_extensions=enable_extensions)
 
         tree = py_trees.composites.Sequence(name="", memory=True)
         model = self.create_internal_model(parsed_model, tree, file, log_model, debug, scenario_parameter_overrides)
@@ -335,23 +347,33 @@ def set_override_value(self, param, override_value):
             raise ValueError(
                 f"Unknown override type (supported: FunctionApplicationExpression, BaseLiteral, PhysicalLiteral, ListExpression) {param}")
 
-    def parse_file(self, file: str, log_model: bool = False, error_prefix=""):
+    def parse_file(self, file: str, log_model: bool = False, error_prefix="", enable_extensions: bool = None):
         """ Execute the parsing """
         if file in self.parsed_files:  # skip already parsed/imported files
             return None
         self.parsed_files.append(file)
+
+        # Auto-detect extensions based on file extension if not explicitly set
+        if enable_extensions is None:
+            enable_extensions = file.lower().endswith('.scx')
+
         try:
             input_stream = FileStream(file)
         except (OSError, UnicodeDecodeError) as e:
             raise ValueError(f'{e}') from e
-        return self.parse_input_stream(input_stream, log_model, error_prefix)
+        return self.parse_input_stream(input_stream, log_model, error_prefix, enable_extensions)
 
-    def parse_input_stream(self, input_stream, log_model=False, error_prefix=""):
+    def parse_input_stream(self, input_stream, log_model=False, error_prefix="", enable_extensions=False):
         """ Execute the parsing """
         lexer = OpenSCENARIO2Lexer(input_stream)
+
+        lexer.extensions_enabled = enable_extensions
+
         stream = CommonTokenStream(lexer)
 
         parser = OpenSCENARIO2Parser(stream)
+        parser.extensions_enabled = enable_extensions
+
         # if quiet:
         parser.removeErrorListeners()
 

scenario_execution/scenario_execution/osc2_parsing/OpenSCENARIO2.g4

@@ -95,12 +95,25 @@ def lastToken(self):
 def lastToken(self, value):
     self._lastToken = value
 
+@property
+def extensions_enabled(self):
+    try:
+        return self._extensions_enabled
+    except AttributeError:
+        self._extensions_enabled = False
+        return self._extensions_enabled
+
+@extensions_enabled.setter
+def extensions_enabled(self, value):
+    self._extensions_enabled = value
+
 def reset(self):
     super().reset()
     self.tokens = []
     self.indents = []
     self.opened = 0
     self.lastToken = None
+    self.extensions_enabled = False
 
 def emitToken(self, t):
     super().emitToken(t)
@@ -446,8 +459,15 @@ composition : compositionOperator (OPEN_PAREN argumentList? CLOSE_PAREN)?':' NEW
 	doMember+ DEDENT (behaviorWithDeclaration)?;
 
 compositionOperator 
+	: standardCompositionOperator 
+	| extendedCompositionOperator;
+
+standardCompositionOperator
 	: 'serial' | 'one_of' | 'parallel';
 
+extendedCompositionOperator
+	: {self._input.LT(1).getInputStream().name != '<unknown>' and self.extensions_enabled}? ('serial_no_memory' | 'selector' | 'selector_no_memory');
+
 behaviorInvocation 
 	: (actorExpression '.')? behaviorName OPEN_PAREN (argumentList)? CLOSE_PAREN (behaviorWithDeclaration | NEWLINE);
 
@@ -758,3 +778,4 @@ fragment
 HexDigit
 	: [0-9A-Fa-f]
 	;
+