Added wind, cloud state and sun to environment

Signed-off-by: Markus Waldmann <Markus.Waldmann@stud.hs-kempten.de>

Author: Markus Waldmann

osi_environment.proto

@@ -101,6 +101,18 @@ message EnvironmentalConditions
     //
     repeated ExternalReference source_reference = 9;
 
+    // Definition of the wind speed and direction.
+    //
+    optional Wind wind = 11;
+
+    // Definition of cloud states and the skybox.
+    //
+    optional CloudState cloud_state = 10;
+
+    // Definition of the Sun.
+    //
+    optional Sun sun = 12;
+
     // Definition of discretized precipitation states according to [1].
     // (I = Intensity of precipitation in mm per hour mm/h)
     //
@@ -324,4 +336,116 @@ message EnvironmentalConditions
         //
         optional uint32 seconds_since_midnight = 1;
     }
+
+    //
+    // \brief Defines wind properties.
+    //
+    // \note Describes the wind speed and direction from ASAM OpenSCENARIO
+    //
+    message Wind
+    {
+        // The target direction of the wind (not the origin direction) in the ground/xy-plane of the \c
+        // world coordinate system. Corresponds to the heading/yaw angle. \c
+        // x-axis-direction is 0 rad. Unit [rad]. Range [0...2 pi[
+        //
+        optional Vector3d direction = 1;
+
+        // The wind speed. Unit [m/s]. Range [0...inf[
+        //
+        optional double speed = 2;
+    }
+
+    // Definition of the cloud state, i.e. cloud state and sky visualization settings.
+    //
+    // The total degree of coverage indicates how large the part of the sky vault is which is covered
+    // with clouds altogether. It is given in eighths, because this division is easier to estimate
+    // for the observer. 0 eighths means that there are no traces of clouds in the sky,
+    // 4 eighths means that the sky is covered with clouds up to half, 8 eighths means that the sky is
+    // completely covered with clouds and no sky blue can be recognized.
+    //
+    // For cloud determination, the observer will choose a location from which he can overlook the entire sky.
+    // When determining the total cloud cover, all clouds or parts of clouds, regardless of height and genus,
+    // that are above his location will be added. Aircraft contrails are also counted as cloud cover if they remain
+    // in the sky for more than 15 minutes. On the other hand, fog is not counted as cloud cover.
+    //
+    // With a little practice, the observer can easily determine the total amount of cloud cover.
+    // Problems occur only with scattered clouds or many single clouds (cumulus).
+    // Their cloud cover is often overestimated. On the other hand,
+    // the coverage of thin ice clouds (cirrus) is often underestimated.[3]
+    //
+    // \par References:
+    // [1] ISO 15469:2004(E) / CIE S 011/E:2003 : Spatial distribution of skylight
+    // [2] https://de.wikipedia.org/wiki/Bewölkung
+    // [3] https://www.dwd.de/DE/service/lexikon/Functions/glossar.html?lv2=100932&lv3=101016
+    //
+    enum CloudState
+    {
+        // Cloud State is unknown (must not be used in ground truth).
+        //
+        CLOUD_STATE_UNKNOWN = 0;
+
+        // Other (unspecified but known) CloudState.
+        //
+        CLOUD_STATE_OTHER = 1;
+
+        // Cloudless (0/8)
+        //
+        CLOUD_STATE_CLOUDLESS = 2;
+
+        // Sunny (1/8)
+        //
+        CLOUD_STATE_SUNNY = 3;
+
+        // Serene (2/8))
+        //
+        CLOUD_STATE_SERENE = 4;
+
+        // Slightly Cloudy (3/8)
+        //
+        CLOUD_STATE_SLIGHTLY_CLOUDY = 5;
+
+        // Light Cloudy (4/8)
+        //
+        CLOUD_STATE_LIGHT_CLOUDY = 6;
+
+        // Cloudy (5/8)
+        //
+        CLOUD_STATE_CLOUDY = 7;
+
+        // Heavy Cloudy (6/8)
+        //
+        CLOUD_STATE_HEAVY_CLOUDY = 8;
+
+        // Almost Covered (7/8)
+        //
+        CLOUD_STATE_ALMOST_COVERED = 9;
+
+        // Covered (8/8)
+        //
+        CLOUD_STATE_COVERED = 10;
+
+        // No Sky
+        //
+        CLOUD_STATE_NO_SKY = 11;
+    }
+
+    //
+    // \brief Specification of sun properties.
+    //
+    // \note Defines the specification of sun properties according to ASAM OpenSCENARIO
+    //
+    message Sun
+    {
+        // Azimuth of the sun, counted counterclockwise, 0=north, PI/2 = east, PI=south, 3/2 PI=west. Unit: radian; Range: [0..2PI].
+        //
+        optional double azimuth = 1;
+
+        // Solar elevation angle, 0=x/y plane, PI/2=zenith. Unit: rad; Range: [-PI..PI].
+        //
+        optional double elevation = 2;
+
+        // Illuminance of the sun, direct sunlight is around 100,00 lx. Unit: lux; Range: [0..inf[.
+        //
+        optional double intensity = 3;
+    }
 }