Merge branch 'master' into feature/sensordata-system-time

Signed-off-by: Pierre R. Mai <pmai@pmsf.de>

Author: pmai

.github/spelling_custom_words_en_US.txt

@@ -2,6 +2,7 @@ abc
 absteigen
 adas
 ADR
+affine
 agbl
 al
 Allgemeine
@@ -244,6 +245,7 @@ openscenario
 optischen
 Ordnung
 osi
+OSI's
 osmp
 Ouml
 ouml

.github/workflows/protobuf.yml

@@ -45,10 +45,12 @@ jobs:
     - name: Install Python Dependencies
       run: |
         python -m pip install --upgrade pip
-        python -m pip install -r requirements_develop.txt
+        python -m pip install build
+        python -m pip install -r requirements_tests.txt
 
     - name: Check black format
-      run: black --check --diff .
+      run: |
+        black --check --diff .
 
     - name: Install Doxygen
       run: sudo apt-get install doxygen graphviz
@@ -88,10 +90,14 @@ jobs:
     - name: Prepare C++ Build
       run: mkdir build
 
-    # Versioning
-    - name: Get versioning
+    - name: Add Development Version Suffix
+      if: ${{ !startsWith(github.ref, 'refs/tags') }}
+      run: |
+        echo "VERSION_SUFFIX = .dev`date -u '+%Y%m%d%H%M%S'`" >> VERSION
+
+    - name: Get git Version
       id: get_version
-      run: echo "VERSION=$(git describe --always)" >> $GITHUB_OUTPUT 
+      run: echo "VERSION=$(git describe --tags --always)" >> $GITHUB_OUTPUT 
 
     - name: Prepare Documentation Build
       run: |
@@ -108,7 +114,7 @@ jobs:
       run: cmake --build . --config Release -j 4
 
     - name: Build Python
-      run: python setup.py build && python setup.py sdist
+      run: python -m build
 
     - name: Install Python
       run: python -m pip install .
@@ -124,7 +130,14 @@ jobs:
         path: doc/html
         if-no-files-found: error
 
-    - name: deploy to gh-pages if push to master branch
+    - name: Upload Python Distribution
+      if: ${{ github.event_name == 'pull_request' }}
+      uses: actions/upload-artifact@v4
+      with:
+        name: python-dist
+        path: dist/
+
+    - name: Deploy to gh-pages if push to master branch
       if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
       uses:  peaceiris/actions-gh-pages@v3
       with:
@@ -148,7 +161,10 @@ jobs:
         python-version: '3.8'
 
     - name: Install Python Dependencies
-      run: python -m pip install --upgrade pip setuptools wheel pyyaml
+      run: |
+        python -m pip install --upgrade pip
+        python -m pip install build
+        python -m pip install -r requirements_tests.txt
 
     - name: Cache Dependencies
       id: cache-depends
@@ -187,6 +203,11 @@ jobs:
         bash convert-to-proto3.sh
         rm *.pb2
 
+    - name: Add Development Version Suffix
+      if: ${{ !startsWith(github.ref, 'refs/tags') }}
+      run: |
+        echo "VERSION_SUFFIX = .dev`date -u '+%Y%m%d%H%M%S'`" >> VERSION
+
     - name: Configure C++ Build
       working-directory: build
       run: cmake ${{ env.PROTOBUF_VARIANT =='' && '-DCMAKE_CXX_STANDARD=17' }} ..
@@ -196,7 +217,7 @@ jobs:
       run: cmake --build . --config Release -j 4
 
     - name: Build Python
-      run: python setup.py build && python setup.py sdist
+      run: python -m build
 
     - name: Install Python
       run: python -m pip install .

.gitignore

@@ -20,8 +20,6 @@ build
 cmake_install.cmake
 install_manifest.txt
 osi_version.proto
-version.py
-pyproject.toml
 
 compile_commands.json
 

MANIFEST.in

@@ -0,0 +1 @@
+include VERSION

doc/architecture/architecture_overview.adoc

@@ -7,7 +7,8 @@ endif::[]
 OSI contains an object-based environment description that uses the message format of the https://github.com/protocolbuffers/protobuf/wiki[Protocol Buffer] library.
 Google developed and maintains the Protocol Buffer library.
 OSI defines top-level messages that are used to exchange data between separate models.
-Top-level messages define the `GroundTruth` interface, the `SensorData` interface, and – since OSI version 3.0.0 – the interfaces `SensorView`, `SensorViewConfiguration`, and `FeatureData`.
+Top-level messages define the `GroundTruth` interface, the `SensorData` interface, and – since OSI version 3.0.0 – the interfaces `SensorView` and `SensorViewConfiguration`.
+Further top-level messages that were added in later versions of OSI are `TrafficCommand`, `TrafficUpdate`, `MotionRequest`, and `StreamingUpdate`.
 
 The following figure shows the interfaces and models involved in modeling a sensor.
 

doc/architecture/feature_data.adoc

@@ -13,6 +13,7 @@ The global coordinate system is an inertial x/y/z-coordinate system.
 The origin is the global reference point that is determined by the environment simulation.
 This reference point may be derived from map data or other considerations.
 Global coordinates can be mapped to a geographic coordinate system via `osi3::GroundTruth::proj_string`.
+Note that before applying any PROJ transformations to global coordinates, the `osi3::GroundTruth::proj_frame_offset` must be applied.
 
 Host vehicle coordinate system::
 The host vehicle coordinate system's origin is defined to be at the center of the rear axle of the host vehicle.

doc/architecture/reference_points_coordinate_systems.adoc

@@ -9,3 +9,7 @@ They can be generated from `GroundTruth` messages, `SensorView` messages, `Featu
 With the exception of feature data, all information regarding the environment is given with respect to the virtual sensor coordinate system.
 Feature data is given with respect to the physical sensor coordinate system.
 Sensor data can be used as input for an automated driving function, a sensor model simulating limited perception, or a sensor fusion model.
+
+`SensorData` messages include `FeatureData` messages which contain detected features in the reference frame of a sensor.
+`FeatureData` messages are generated from `GroundTruth` messages.
+They serve, for example, as an input to sensor models simulating object detection or feature fusion models.

doc/architecture/sensor_data.adoc

@@ -15,8 +15,6 @@ include::./architecture/architecture_overview.adoc[leveloffset=+2]
 
 include::./architecture/ground_truth.adoc[leveloffset=+3]
 
-include::./architecture/feature_data.adoc[leveloffset=+3]
-
 include::./architecture/sensor_view.adoc[leveloffset=+3]
 
 include::./architecture/sensor_view_configuration.adoc[leveloffset=+3]