Add resolvable checks implementation (#22)

Signed-off-by: romanodanilo <danilo@ivex.ai> Signed-off-by: romanodanilo <62891297+romanodanilo@users.noreply.github.com>
asam-ev · Jul 9, 2024 · 8042f96 · 8042f96
1 parent d8a1cee
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diff --git a/qc_openscenario/checks/reference_checker/__init__.py b/qc_openscenario/checks/reference_checker/__init__.py
@@ -12,3 +12,5 @@
 from . import (
     valid_actor_reference_in_private_actions as valid_actor_reference_in_private_actions,
 )
+from . import resolvable_entity_references as resolvable_entity_references
+from . import resolvable_variable_reference as resolvable_variable_reference
diff --git a/qc_openscenario/checks/reference_checker/reference_checker.py b/qc_openscenario/checks/reference_checker/reference_checker.py
@@ -13,6 +13,8 @@
     resolvable_signal_id_in_traffic_signal_state_action,
     resolvable_traffic_signal_controller_by_traffic_signal_controller_ref,
     valid_actor_reference_in_private_actions,
+    resolvable_entity_references,
+    resolvable_variable_reference,
 )
 
 
@@ -58,6 +60,8 @@ def run_checks(checker_data: models.CheckerData) -> None:
         resolvable_signal_id_in_traffic_signal_state_action.check_rule,
         resolvable_traffic_signal_controller_by_traffic_signal_controller_ref.check_rule,
         valid_actor_reference_in_private_actions.check_rule,
+        resolvable_entity_references.check_rule,
+        resolvable_variable_reference.check_rule,
     ]
 
     for rule in rule_list:

diff --git a/qc_openscenario/checks/reference_checker/resolvable_entity_references.py b/qc_openscenario/checks/reference_checker/resolvable_entity_references.py
@@ -0,0 +1,98 @@
+import os, logging
+
+from dataclasses import dataclass
+from typing import List
+
+from lxml import etree
+
+from qc_baselib import Configuration, Result, IssueSeverity
+
+from qc_openscenario import constants
+from qc_openscenario.schema import schema_files
+from qc_openscenario.checks import utils, models
+
+from qc_openscenario.checks.reference_checker import reference_constants
+from collections import deque, defaultdict
+
+MIN_RULE_VERSION = "1.2.0"
+RULE_SEVERITY = IssueSeverity.ERROR
+
+
+def check_rule(checker_data: models.CheckerData) -> None:
+    """
+    Rule ID: asam.net:xosc:1.2.0:reference_control.resolvable_entity_references
+
+    Description: A named reference in the EntityRef must be resolvable. Checking all EntityRef's in the document.
+    Severity: ERROR
+
+    Version range: [1.2.0, )
+
+    Remark:
+        None
+
+    More info at
+        - https://github.com/asam-ev/qc-openscenarioxml/issues/15
+    """
+    logging.info("Executing resolvable_entity_references check")
+
+    schema_version = checker_data.schema_version
+    if schema_version is None:
+        logging.info(f"- Version not found in the file. Skipping check")
+        return
+
+    if utils.compare_versions(schema_version, MIN_RULE_VERSION) < 0:
+        logging.info(
+            f"- Version {schema_version} is less than minimum required version {MIN_RULE_VERSION}. Skipping check"
+        )
+        return
+
+    rule_uid = checker_data.result.register_rule(
+        checker_bundle_name=constants.BUNDLE_NAME,
+        checker_id=reference_constants.CHECKER_ID,
+        emanating_entity="asam.net",
+        standard="xosc",
+        definition_setting=MIN_RULE_VERSION,
+        rule_full_name="reference_control.resolvable_entity_references",
+    )
+
+    root = checker_data.input_file_xml_root
+
+    entities_node = root.find("Entities")
+    if entities_node is None:
+        logging.error("Cannot find Entities node in provided XOSC file. Skipping check")
+        return
+
+    defined_entities = set()
+    for entity_node in list(entities_node):
+        current_name = entity_node.get("name")
+        if current_name is not None:
+            defined_entities.add(current_name)
+
+    storyboard_node = root.find("Storyboard")
+    if storyboard_node is None:
+        logging.error(
+            "Cannot find Storyboard node in provided XOSC file. Skipping check"
+        )
+        return
+
+    nodes_with_entity_ref = storyboard_node.xpath(".//*[@entityRef]")
+
+    for node_with_entity_ref in nodes_with_entity_ref:
+        current_name = node_with_entity_ref.get("entityRef")
+        if current_name is not None and current_name not in defined_entities:
+            xpath = root.getpath(node_with_entity_ref)
+
+            issue_id = checker_data.result.register_issue(
+                checker_bundle_name=constants.BUNDLE_NAME,
+                checker_id=reference_constants.CHECKER_ID,
+                description="Issue flagging when an entity is referred in a entityRef attribute but it is not declared among Entities",
+                level=RULE_SEVERITY,
+                rule_uid=rule_uid,
+            )
+            checker_data.result.add_xml_location(
+                checker_bundle_name=constants.BUNDLE_NAME,
+                checker_id=reference_constants.CHECKER_ID,
+                issue_id=issue_id,
+                xpath=xpath,
+                description=f"Entity at {xpath} with id {current_name} not found among defined Entities ",
+            )
diff --git a/qc_openscenario/checks/reference_checker/resolvable_variable_reference.py b/qc_openscenario/checks/reference_checker/resolvable_variable_reference.py
@@ -0,0 +1,104 @@
+import os, logging
+
+from dataclasses import dataclass
+from typing import List
+
+from lxml import etree
+
+from qc_baselib import Configuration, Result, IssueSeverity
+
+from qc_openscenario import constants
+from qc_openscenario.schema import schema_files
+from qc_openscenario.checks import utils, models
+
+from qc_openscenario.checks.reference_checker import reference_constants
+from collections import deque, defaultdict
+
+MIN_RULE_VERSION = "1.2.0"
+RULE_SEVERITY = IssueSeverity.ERROR
+
+
+def check_rule(checker_data: models.CheckerData) -> None:
+    """
+    Rule ID: asam.net:xosc:1.2.0:reference_control.resolvable_variable_reference
+
+    Description: The VariableDeclaration according to the "variableRef" property must exist within the ScenarioDefinition.
+    Severity: ERROR
+
+    Version range: [1.2.0, )
+
+    Remark:
+        None
+
+    More info at
+        - https://github.com/asam-ev/qc-openscenarioxml/issues/18
+    """
+    logging.info("Executing resolvable_variable_reference check")
+
+    schema_version = checker_data.schema_version
+    if schema_version is None:
+        logging.info(f"- Version not found in the file. Skipping check")
+        return
+
+    if utils.compare_versions(schema_version, MIN_RULE_VERSION) < 0:
+        logging.info(
+            f"- Version {schema_version} is less than minimum required version {MIN_RULE_VERSION}. Skipping check"
+        )
+        return
+
+    rule_uid = checker_data.result.register_rule(
+        checker_bundle_name=constants.BUNDLE_NAME,
+        checker_id=reference_constants.CHECKER_ID,
+        emanating_entity="asam.net",
+        standard="xosc",
+        definition_setting=MIN_RULE_VERSION,
+        rule_full_name="reference_control.resolvable_variable_reference",
+    )
+
+    root = checker_data.input_file_xml_root
+
+    parameter_declaration_nodes = root.find("ParameterDeclarations")
+    variable_declaration_nodes = root.find("VariableDeclarations")
+
+    # Get parameters and variables declarations
+    defined_param_variables = set()
+    if parameter_declaration_nodes is not None:
+        for declaration_node in list(parameter_declaration_nodes):
+            current_name = declaration_node.get("name")
+            if current_name is not None:
+                defined_param_variables.add(current_name)
+
+    if variable_declaration_nodes is not None:
+        for declaration_node in list(variable_declaration_nodes):
+            current_name = declaration_node.get("name")
+            if current_name is not None:
+                defined_param_variables.add(current_name)
+
+    storyboard_node = root.find("Storyboard")
+    if storyboard_node is None:
+        logging.error(
+            "Cannot find Storyboard node in provided XOSC file. Skipping check"
+        )
+        return
+
+    nodes_with_variable_ref = storyboard_node.xpath(".//*[@variableRef]")
+
+    for node_with_variable_ref in nodes_with_variable_ref:
+        current_name = node_with_variable_ref.get("variableRef")
+        if current_name is not None and current_name not in defined_param_variables:
+            xpath = root.getpath(node_with_variable_ref)
+
+            issue_id = checker_data.result.register_issue(
+                checker_bundle_name=constants.BUNDLE_NAME,
+                checker_id=reference_constants.CHECKER_ID,
+                description="Issue flagging when a variable is referred in a variableRef attribute but it is not found within ScenarioDefinition",
+                level=RULE_SEVERITY,
+                rule_uid=rule_uid,
+            )
+            checker_data.result.add_xml_location(
+                checker_bundle_name=constants.BUNDLE_NAME,
+                checker_id=reference_constants.CHECKER_ID,
+                issue_id=issue_id,
+                xpath=xpath,
+                description=f"Variable with id {current_name} not found within ScenarioDefinition",
+            )
diff --git a/...e_entity_references/reference_control.resolvable_entity_references.negative.multiple.xosc b/...e_entity_references/reference_control.resolvable_entity_references.negative.multiple.xosc
@@ -0,0 +1,85 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../qc_openscenario/schema/1.3.0/OpenSCENARIO.xsd">
+    <FileHeader author="ASAM e.V." date="2021-02-05T18:50:17" description="Simple Overtaker example"
+        revMajor="1" revMinor="3" />
+    <ParameterDeclarations />
+    <CatalogLocations />
+    <RoadNetwork />
+    <Entities>
+        <ScenarioObject name="Vehicle 1">
+            <Vehicle name="Vehicle 1" vehicleCategory="car">
+                <BoundingBox>
+                    <Center x="1.3" y="0.0" z="0.75" />
+                    <Dimensions width="1.8" length="4.5" height="1.5" />
+                </BoundingBox>
+                <Performance maxSpeed="200.0" maxDeceleration="30.0" maxAcceleration="200.0" />
+                <Axles>
+                    <FrontAxle positionZ="0.4" trackWidth="1.68" positionX="2.98"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                    <RearAxle positionZ="0.4" trackWidth="1.68" positionX="0.0"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                </Axles>
+            </Vehicle>
+        </ScenarioObject>
+        <ScenarioObject name="Vehicle 2">
+            <Vehicle name="Vehicle 1" vehicleCategory="car">
+                <BoundingBox>
+                    <Center x="1.3" y="0.0" z="0.75" />
+                    <Dimensions width="1.8" length="4.5" height="1.5" />
+                </BoundingBox>
+                <Performance maxSpeed="200.0" maxDeceleration="30.0" maxAcceleration="200.0" />
+                <Axles>
+                    <FrontAxle positionZ="0.4" trackWidth="1.68" positionX="2.98"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                    <RearAxle positionZ="0.4" trackWidth="1.68" positionX="0.0"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                </Axles>
+            </Vehicle>
+        </ScenarioObject>
+    </Entities>
+    <Storyboard>
+        <Init>
+            <Actions>
+                <Private entityRef="Vehicle 2">
+                    <PrivateAction>
+                        <TeleportAction>
+                            <Position>
+                                <WorldPosition x="0.0" y="0.0" />
+                            </Position>
+                        </TeleportAction>
+                    </PrivateAction>
+                </Private>
+                <Private entityRef="Vehicle 1">
+                    <PrivateAction>
+                        <TeleportAction>
+                            <Position>
+                                <WorldPosition x="0.0" y="0.0" />
+                            </Position>
+                        </TeleportAction>
+                    </PrivateAction>
+                </Private>
+                <!-- Inserted rule violation since "Vehicle 3" does not exist. -->
+                <Private entityRef="Vehicle 3">
+                    <PrivateAction>
+                        <TeleportAction>
+                            <Position>
+                                <WorldPosition x="0.0" y="0.0" />
+                            </Position>
+                        </TeleportAction>
+                    </PrivateAction>
+                </Private>
+                <!-- Inserted rule violation since "Vehicle 4" does not exist. -->
+                <Private entityRef="Vehicle 4">
+                    <PrivateAction>
+                        <TeleportAction>
+                            <Position>
+                                <WorldPosition x="0.0" y="0.0" />
+                            </Position>
+                        </TeleportAction>
+                    </PrivateAction>
+                </Private>
+            </Actions>
+        </Init>
+    </Storyboard>
+</OpenSCENARIO>
diff --git a/...resolvable_entity_references/reference_control.resolvable_entity_references.negative.xosc b/...resolvable_entity_references/reference_control.resolvable_entity_references.negative.xosc
@@ -0,0 +1,42 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../qc_openscenario/schema/1.3.0/OpenSCENARIO.xsd">
+    <FileHeader author="ASAM e.V." date="2021-02-05T18:50:17" description="Simple Overtaker example"
+        revMajor="1" revMinor="3" />
+    <ParameterDeclarations />
+    <CatalogLocations />
+    <RoadNetwork />
+    <Entities>
+        <ScenarioObject name="Vehicle 1">
+            <Vehicle name="Vehicle 1" vehicleCategory="car">
+                <BoundingBox>
+                    <Center x="1.3" y="0.0" z="0.75" />
+                    <Dimensions width="1.8" length="4.5" height="1.5" />
+                </BoundingBox>
+                <Performance maxSpeed="200.0" maxDeceleration="30.0" maxAcceleration="200.0" />
+                <Axles>
+                    <FrontAxle positionZ="0.4" trackWidth="1.68" positionX="2.98"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                    <RearAxle positionZ="0.4" trackWidth="1.68" positionX="0.0"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                </Axles>
+            </Vehicle>
+        </ScenarioObject>
+    </Entities>
+    <Storyboard>
+        <Init>
+            <Actions>
+                <!-- Inserted rule violation since "Vehicle 2" does not exist. -->
+                <Private entityRef="Vehicle 2">
+                    <PrivateAction>
+                        <TeleportAction>
+                            <Position>
+                                <WorldPosition x="0.0" y="0.0" />
+                            </Position>
+                        </TeleportAction>
+                    </PrivateAction>
+                </Private>
+            </Actions>
+        </Init>
+    </Storyboard>
+</OpenSCENARIO>
diff --git a/...resolvable_entity_references/reference_control.resolvable_entity_references.positive.xosc b/...resolvable_entity_references/reference_control.resolvable_entity_references.positive.xosc
@@ -0,0 +1,41 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<OpenSCENARIO xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+    xsi:noNamespaceSchemaLocation="../../../qc_openscenario/schema/1.3.0/OpenSCENARIO.xsd">
+    <FileHeader author="ASAM e.V." date="2021-02-05T18:50:17" description="Simple Overtaker example"
+        revMajor="1" revMinor="3" />
+    <ParameterDeclarations />
+    <CatalogLocations />
+    <RoadNetwork />
+    <Entities>
+        <ScenarioObject name="Vehicle 1">
+            <Vehicle name="Vehicle 1" vehicleCategory="car">
+                <BoundingBox>
+                    <Center x="1.3" y="0.0" z="0.75" />
+                    <Dimensions width="1.8" length="4.5" height="1.5" />
+                </BoundingBox>
+                <Performance maxSpeed="200.0" maxDeceleration="30.0" maxAcceleration="200.0" />
+                <Axles>
+                    <FrontAxle positionZ="0.4" trackWidth="1.68" positionX="2.98"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                    <RearAxle positionZ="0.4" trackWidth="1.68" positionX="0.0"
+                        maxSteering="0.5235987756" wheelDiameter="0.8" />
+                </Axles>
+            </Vehicle>
+        </ScenarioObject>
+    </Entities>
+    <Storyboard>
+        <Init>
+            <Actions>
+                <Private entityRef="Vehicle 1">
+                    <PrivateAction>
+                        <TeleportAction>
+                            <Position>
+                                <WorldPosition x="0.0" y="0.0" />
+                            </Position>
+                        </TeleportAction>
+                    </PrivateAction>
+                </Private>
+            </Actions>
+        </Init>
+    </Storyboard>
+</OpenSCENARIO>