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fix: defer triggered actions until after activation frame #8

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fix: defer triggered actions until after activation frame #8

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34 changes: 31 additions & 3 deletions src/osc_simulator/simulation/engine.py
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Original file line number Diff line number Diff line change
Expand Up @@ -86,6 +86,18 @@ def __init__(
self.completed = False


class _PendingAction:
def __init__(
self,
event_state: _EventState,
event_key: str,
action_state: _ActionExecutionState,
) -> None:
self.event_state = event_state
self.event_key = event_key
self.action_state = action_state


class SimulationEngine:
"""Execute a :class:`~osc_simulator.parser.openscenario.Scenario`."""

Expand Down Expand Up @@ -121,6 +133,7 @@ def __init__(self, scenario: Scenario, step_size: float = 0.05) -> None:
self._completed_elements: set[str] = set()
self._storyboard_lookup = self._build_storyboard_lookup()
self._condition_prev_values: dict[int, bool] = {}
self._pending_actions: list[_PendingAction] = []

# ------------------------------------------------------------------
# Public
Expand All @@ -132,6 +145,7 @@ def run(self) -> Iterator[tuple[float, Any]]:
gt = self._build_ground_truth()
yield self._time, gt
self._advance()
self._apply_pending_actions()

# Emit final frame at stop time
yield self._time, self._build_ground_truth()
Expand Down Expand Up @@ -429,9 +443,7 @@ def _evaluate_maneuver(
for action in event.actions:
action_state = _ActionExecutionState(action, list(actors))
state.action_states.append(action_state)
action_state.started = True
self._apply_action(action, actors)
action_state.completed = self._is_action_completed(action, actors)
self._pending_actions.append(_PendingAction(state, event_key, action_state))
if not state.action_states or all(a.completed for a in state.action_states):
state.completed = True
self._completed_elements.add(event_key)
Expand All @@ -441,6 +453,8 @@ def _update_event_action_completion_states(self) -> None:
if not state.started or state.completed:
continue
for action_state in state.action_states:
if not action_state.started:
continue
if action_state.completed:
continue
action_state.completed = self._is_action_completed(
Expand All @@ -449,6 +463,20 @@ def _update_event_action_completion_states(self) -> None:
if all(a.completed for a in state.action_states):
state.completed = True

def _apply_pending_actions(self) -> None:
pending_actions = self._pending_actions
self._pending_actions = []
for pending in pending_actions:
action_state = pending.action_state
action_state.started = True
self._apply_action(action_state.action, action_state.actor_names)
action_state.completed = self._is_action_completed(
action_state.action, action_state.actor_names
)
if all(a.completed for a in pending.event_state.action_states):
pending.event_state.completed = True
self._completed_elements.add(pending.event_key)

def _story_key(self, story: Story) -> str:
return f"story:{story.name}"

Expand Down
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