add additional py-trees composites

scenario_execution/scenario_execution/model/model_to_py_tree.py

@@ -161,6 +161,13 @@ 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/osc2_parsing/OpenSCENARIO2.g4

@@ -445,7 +445,7 @@ composition : compositionOperator (OPEN_PAREN argumentList? CLOSE_PAREN)?':' NEW
 	doMember+ DEDENT (behaviorWithDeclaration)?;
 
 compositionOperator 
-	: 'serial' | 'one_of' | 'parallel';
+	: 'serial' | 'one_of' | 'parallel' | 'serial_no_memory' | 'selector' | 'selector_no_memory';
 
 behaviorInvocation 
 	: (actorExpression '.')? behaviorName OPEN_PAREN (argumentList)? CLOSE_PAREN (behaviorWithDeclaration | NEWLINE);

scenario_execution/scenario_execution/osc2_parsing/OpenSCENARIO2.tokens

@@ -86,23 +86,26 @@ T__84=85
 T__85=86
 T__86=87
 T__87=88
-NEWLINE=89
-OPEN_BRACK=90
-CLOSE_BRACK=91
-OPEN_PAREN=92
-CLOSE_PAREN=93
-SKIP_=94
-BLOCK_COMMENT=95
-LINE_COMMENT=96
-StringLiteral=97
-FloatLiteral=98
-UintLiteral=99
-HexUintLiteral=100
-IntLiteral=101
-BoolLiteral=102
-Identifier=103
-INDENT=104
-DEDENT=105
+T__88=89
+T__89=90
+T__90=91
+NEWLINE=92
+OPEN_BRACK=93
+CLOSE_BRACK=94
+OPEN_PAREN=95
+CLOSE_PAREN=96
+SKIP_=97
+BLOCK_COMMENT=98
+LINE_COMMENT=99
+StringLiteral=100
+FloatLiteral=101
+UintLiteral=102
+HexUintLiteral=103
+IntLiteral=104
+BoolLiteral=105
+Identifier=106
+INDENT=107
+DEDENT=108
 'import'=1
 '.'=2
 'type'=3
@@ -160,38 +163,41 @@ DEDENT=105
 'serial'=55
 'one_of'=56
 'parallel'=57
-'wait'=58
-'emit'=59
-'call'=60
-'until'=61
-'def'=62
-'->'=63
-'expression'=64
-'undefined'=65
-'external'=66
-'only'=67
-'cover'=68
-'record'=69
-'range'=70
-'?'=71
-'=>'=72
-'or'=73
-'and'=74
-'not'=75
-'!='=76
-'<'=77
-'<='=78
-'>'=79
-'>='=80
-'in'=81
-'+'=82
-'-'=83
-'*'=84
-'/'=85
-'%'=86
-'it'=87
-'..'=88
-'['=90
-']'=91
-'('=92
-')'=93
+'serial_no_memory'=58
+'selector'=59
+'selector_no_memory'=60
+'wait'=61
+'emit'=62
+'call'=63
+'until'=64
+'def'=65
+'->'=66
+'expression'=67
+'undefined'=68
+'external'=69
+'only'=70
+'cover'=71
+'record'=72
+'range'=73
+'?'=74
+'=>'=75
+'or'=76
+'and'=77
+'not'=78
+'!='=79
+'<'=80
+'<='=81
+'>'=82
+'>='=83
+'in'=84
+'+'=85
+'-'=86
+'*'=87
+'/'=88
+'%'=89
+'it'=90
+'..'=91
+'['=93
+']'=94
+'('=95
+')'=96

scenario_execution/scenario_execution/osc2_parsing/OpenSCENARIO2Lexer.tokens

@@ -86,21 +86,24 @@ T__84=85
 T__85=86
 T__86=87
 T__87=88
-NEWLINE=89
-OPEN_BRACK=90
-CLOSE_BRACK=91
-OPEN_PAREN=92
-CLOSE_PAREN=93
-SKIP_=94
-BLOCK_COMMENT=95
-LINE_COMMENT=96
-StringLiteral=97
-FloatLiteral=98
-UintLiteral=99
-HexUintLiteral=100
-IntLiteral=101
-BoolLiteral=102
-Identifier=103
+T__88=89
+T__89=90
+T__90=91
+NEWLINE=92
+OPEN_BRACK=93
+CLOSE_BRACK=94
+OPEN_PAREN=95
+CLOSE_PAREN=96
+SKIP_=97
+BLOCK_COMMENT=98
+LINE_COMMENT=99
+StringLiteral=100
+FloatLiteral=101
+UintLiteral=102
+HexUintLiteral=103
+IntLiteral=104
+BoolLiteral=105
+Identifier=106
 'import'=1
 '.'=2
 'type'=3
@@ -158,38 +161,41 @@ Identifier=103
 'serial'=55
 'one_of'=56
 'parallel'=57
-'wait'=58
-'emit'=59
-'call'=60
-'until'=61
-'def'=62
-'->'=63
-'expression'=64
-'undefined'=65
-'external'=66
-'only'=67
-'cover'=68
-'record'=69
-'range'=70
-'?'=71
-'=>'=72
-'or'=73
-'and'=74
-'not'=75
-'!='=76
-'<'=77
-'<='=78
-'>'=79
-'>='=80
-'in'=81
-'+'=82
-'-'=83
-'*'=84
-'/'=85
-'%'=86
-'it'=87
-'..'=88
-'['=90
-']'=91
-'('=92
-')'=93
+'serial_no_memory'=58
+'selector'=59
+'selector_no_memory'=60
+'wait'=61
+'emit'=62
+'call'=63
+'until'=64
+'def'=65
+'->'=66
+'expression'=67
+'undefined'=68
+'external'=69
+'only'=70
+'cover'=71
+'record'=72
+'range'=73
+'?'=74
+'=>'=75
+'or'=76
+'and'=77
+'not'=78
+'!='=79
+'<'=80
+'<='=81
+'>'=82
+'>='=83
+'in'=84
+'+'=85
+'-'=86
+'*'=87
+'/'=88
+'%'=89
+'it'=90
+'..'=91
+'['=93
+']'=94
+'('=95
+')'=96