From d1344a320387a7fd7f6623fd6cc60e11aeb4249b Mon Sep 17 00:00:00 2001 From: Julian Schmidt Date: Thu, 11 Mar 2021 11:36:29 +0100 Subject: [PATCH 001/219] revert matrix multiplication order of rotations MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Julian Schmidt Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_common.proto b/osi_common.proto index 7ab5852ec..b6db423b8 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -157,7 +157,7 @@ message Dimension3d // x-axis. // // \f$ Rotation_{yaw,pitch,roll} = -// Rotation_{roll}*Rotation_{pitch}*Rotation_{yaw} \f$ +// Rotation_{yaw}*Rotation_{pitch}*Rotation_{roll} \f$ // // \f$ vector_{\text{global coord system}} := // Rotation_{yaw,pitch,roll}^{-1}( \f$ \c Orientation3d \f$ From cc9d146a7cb5ba6917d24ff9f52ed4366b6e9c9d Mon Sep 17 00:00:00 2001 From: Julian Schmidt Date: Thu, 11 Mar 2021 11:39:30 +0100 Subject: [PATCH 002/219] change preferred angular ranges MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Julian Schmidt Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index b6db423b8..e91e473e3 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -143,14 +143,14 @@ message Dimension3d // Units are rad for orientation, rad/s for rates, and rad/s^2 for // accelerations // -// The preferred angular range is [-pi, pi]. The coordinate system is defined as -// right-handed. +// The coordinate system is defined as right-handed. // For the sense of each rotation, the right-hand rule applies. // // The rotations are to be performed \b yaw \b first (around the z-axis), // \b pitch \b second (around the new y-axis) and \b roll \b third (around the // new x-axis) to follow the definition according to [1] (Tait-Bryan / Euler -// convention z-y'-x''). +// convention z-y'-x''). The preferred angular range is [-pi, pi] for roll +// and yaw and [-pi/2, pi/2] for pitch. // // Roll/Pitch are 0 if the objects xy-plane is parallel to its parent's // xy-plane. Yaw is 0 if the object's local x-axis is parallel to its parent's From d6488f257e1a995560899122ed4e3d4ef27d2814 Mon Sep 17 00:00:00 2001 From: Habedank Clemens Date: Mon, 15 Mar 2021 13:34:18 +0100 Subject: [PATCH 003/219] removed cones as an example from TYPE_CONSTRUCTION_SITE_ELEMENT because there is a separate TYPE_PYLON MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_object.proto b/osi_object.proto index cb0b80b5d..b44066f0f 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -135,7 +135,7 @@ message StationaryObject TYPE_REFLECTIVE_STRUCTURE = 15; // Landmarks corresponding to construction site elements in the - // environment, like cones or beacons. + // environment, like beacons. // TYPE_CONSTRUCTION_SITE_ELEMENT = 16; } From ca2a5a996202d7e18d1aa58a4ded1c5f6d94c1f3 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin Date: Wed, 31 Mar 2021 15:44:48 +0200 Subject: [PATCH 004/219] feat(docs): Create initial document structure (#494) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/architecture_overview.adoc | 11 + doc/architecture/coordinate_systems.adoc | 11 + doc/architecture/data_layer.adoc | 10 + .../environmental_effect_model.adoc | 10 + doc/architecture/feature_data.adoc | 10 + doc/architecture/formatting_scripts.adoc | 12 + doc/architecture/ground_truth.adoc | 10 + doc/architecture/logical_model.adoc | 10 + doc/architecture/packaging_layer.adoc | 9 + doc/architecture/proto-files.adoc | 78 ++++ doc/architecture/reference_points.adoc | 10 + doc/architecture/sensor_data.adoc | 9 + doc/architecture/sensor_model.adoc | 9 + doc/architecture/sensor_view.adoc | 9 + .../sensor_view_configuration.adoc | 9 + doc/architecture/test_scripts.adoc | 45 +++ doc/architecture/trace_file_formats.adoc | 9 + doc/architecture/trace_file_naming.adoc | 9 + doc/architecture/traffic_participant.adoc | 24 ++ doc/architecture/vehicle_dynamics.adoc | 9 + doc/commenting.rst | 339 ------------------ doc/coordinatesystem.rst | 37 -- doc/description.rst | 188 ---------- doc/fileformat.rst | 126 ------- doc/howtocontribute.rst | 319 ---------------- doc/installation.rst | 14 - doc/interfaceconventions.rst | 103 ------ doc/linux.rst | 56 --- doc/misc/osi_reference.adoc | 13 + doc/misc/osi_vision.adoc | 11 + doc/open-simulation-interface_user_guide.adoc | 121 +++++++ doc/osifiles.rst | 103 ------ doc/reference.rst | 26 -- doc/releases/compatibility.adoc | 11 + doc/releases/releases.adoc | 11 + doc/releases/versioning.adoc | 11 + doc/setup/including_osi_dev_projects.adoc | 10 + doc/setup/installing_linux.adoc | 11 + doc/setup/installing_macos.adoc | 10 + doc/setup/installing_windows.adoc | 10 + doc/setup/using_osi_support_tools.adoc | 9 + .../benchmark_integration_gpu_radar.adoc | 12 + doc/usecases/fusing_sensor_outputs.adoc | 10 + doc/usecases/generating_osi_traces.adoc | 9 + doc/usecases/injecting_faults.adoc | 10 + doc/usecases/modeling_camera_electronics.adoc | 10 + doc/usecases/modeling_lidar_sensor.adoc | 10 + .../modeling_traffic_participant.adoc | 10 + doc/versioning.rst | 27 -- doc/windows.rst | 63 ---- 50 files changed, 612 insertions(+), 1401 deletions(-) create mode 100644 doc/architecture/architecture_overview.adoc create mode 100644 doc/architecture/coordinate_systems.adoc create mode 100644 doc/architecture/data_layer.adoc create mode 100644 doc/architecture/environmental_effect_model.adoc create mode 100644 doc/architecture/feature_data.adoc create mode 100644 doc/architecture/formatting_scripts.adoc create mode 100644 doc/architecture/ground_truth.adoc create mode 100644 doc/architecture/logical_model.adoc create mode 100644 doc/architecture/packaging_layer.adoc create mode 100644 doc/architecture/proto-files.adoc create mode 100644 doc/architecture/reference_points.adoc create mode 100644 doc/architecture/sensor_data.adoc create mode 100644 doc/architecture/sensor_model.adoc create mode 100644 doc/architecture/sensor_view.adoc create mode 100644 doc/architecture/sensor_view_configuration.adoc create mode 100644 doc/architecture/test_scripts.adoc create mode 100644 doc/architecture/trace_file_formats.adoc create mode 100644 doc/architecture/trace_file_naming.adoc create mode 100644 doc/architecture/traffic_participant.adoc create mode 100644 doc/architecture/vehicle_dynamics.adoc delete mode 100644 doc/commenting.rst delete mode 100644 doc/coordinatesystem.rst delete mode 100644 doc/description.rst delete mode 100644 doc/fileformat.rst delete mode 100644 doc/howtocontribute.rst delete mode 100644 doc/installation.rst delete mode 100644 doc/interfaceconventions.rst delete mode 100644 doc/linux.rst create mode 100644 doc/misc/osi_reference.adoc create mode 100644 doc/misc/osi_vision.adoc create mode 100644 doc/open-simulation-interface_user_guide.adoc delete mode 100644 doc/osifiles.rst delete mode 100644 doc/reference.rst create mode 100644 doc/releases/compatibility.adoc create mode 100644 doc/releases/releases.adoc create mode 100644 doc/releases/versioning.adoc create mode 100644 doc/setup/including_osi_dev_projects.adoc create mode 100644 doc/setup/installing_linux.adoc create mode 100644 doc/setup/installing_macos.adoc create mode 100644 doc/setup/installing_windows.adoc create mode 100644 doc/setup/using_osi_support_tools.adoc create mode 100644 doc/usecases/benchmark_integration_gpu_radar.adoc create mode 100644 doc/usecases/fusing_sensor_outputs.adoc create mode 100644 doc/usecases/generating_osi_traces.adoc create mode 100644 doc/usecases/injecting_faults.adoc create mode 100644 doc/usecases/modeling_camera_electronics.adoc create mode 100644 doc/usecases/modeling_lidar_sensor.adoc create mode 100644 doc/usecases/modeling_traffic_participant.adoc delete mode 100644 doc/versioning.rst delete mode 100644 doc/windows.rst diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc new file mode 100644 index 000000000..0bbbe8e05 --- /dev/null +++ b/doc/architecture/architecture_overview.adoc @@ -0,0 +1,11 @@ += Overview of OSI architecture + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. +Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/coordinate_systems.adoc b/doc/architecture/coordinate_systems.adoc new file mode 100644 index 000000000..2034e3cd7 --- /dev/null +++ b/doc/architecture/coordinate_systems.adoc @@ -0,0 +1,11 @@ += Coordinate systems + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. +Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/data_layer.adoc b/doc/architecture/data_layer.adoc new file mode 100644 index 000000000..7f23e28c7 --- /dev/null +++ b/doc/architecture/data_layer.adoc @@ -0,0 +1,10 @@ += Data layer + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/environmental_effect_model.adoc b/doc/architecture/environmental_effect_model.adoc new file mode 100644 index 000000000..6c79080e1 --- /dev/null +++ b/doc/architecture/environmental_effect_model.adoc @@ -0,0 +1,10 @@ += Environmental effect model + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc new file mode 100644 index 000000000..c1bd3ec51 --- /dev/null +++ b/doc/architecture/feature_data.adoc @@ -0,0 +1,10 @@ += Feature data + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc new file mode 100644 index 000000000..de9f61dc1 --- /dev/null +++ b/doc/architecture/formatting_scripts.adoc @@ -0,0 +1,12 @@ += Formatting scripts + +TODO: Add general description. + +osi2read.py:: +TODO: Add description. + +OSITrace.py:: +TODO: Add description. + +txt2osi.py:: +TODO: Add description. diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc new file mode 100644 index 000000000..b15de8ab6 --- /dev/null +++ b/doc/architecture/ground_truth.adoc @@ -0,0 +1,10 @@ += Ground truth + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/logical_model.adoc b/doc/architecture/logical_model.adoc new file mode 100644 index 000000000..af8dbb0e8 --- /dev/null +++ b/doc/architecture/logical_model.adoc @@ -0,0 +1,10 @@ += Logical model + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/packaging_layer.adoc b/doc/architecture/packaging_layer.adoc new file mode 100644 index 000000000..2a42960e6 --- /dev/null +++ b/doc/architecture/packaging_layer.adoc @@ -0,0 +1,9 @@ += Packaging layer + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/proto-files.adoc b/doc/architecture/proto-files.adoc new file mode 100644 index 000000000..a5ee64802 --- /dev/null +++ b/doc/architecture/proto-files.adoc @@ -0,0 +1,78 @@ += Protobuffer files + +TODO: Add general description. + +osi_common.proto:: +TODO: Add description. + +osi_datarecording.proto:: +TODO: Add description. + +osi_detectedlane.proto:: +TODO: Add description. + +osi_detectedobject.proto:: +TODO: Add description. + +osi_detectedoccupant.proto:: +TODO: Add description. + +osi_detectedroadmarking.proto:: +TODO: Add description. + +osi_detectedtrafficlight.proto:: +TODO: Add description. + +osi_detectedtrafficsign.proto:: +TODO: Add description. + +osi_environment.proto:: +TODO: Add description. + +osi_featuredata.proto:: +TODO: Add description. + +osi_groundtruth.proto:: +TODO: Add description. + +osi_hostvehicledata.proto:: +TODO: Add description. + +osi_lane.proto:: +TODO: Add description. + +osi_logicaldetectiondata.proto:: +TODO: Add description. + +osi_object.proto:: +TODO: Add description. + +osi_occupant.proto:: +TODO: Add description. + +osi_roadmarking.proto:: +TODO: Add description. + +osi_sensordata.proto:: +TODO: Add description. + +osi_sensorspecific.proto:: +TODO: Add description. + +osi_sensorview.proto:: +TODO: Add description. + +osi_sensorviewconfiguration.proto:: +TODO: Add description. + +osi_trafficcommand.proto:: +TODO: Add description. + +osi_trafficlight.proto:: +TODO: Add description. + +osi_trafficsign.proto:: +TODO: Add description. + +osi_trafficupdate.proto:: +TODO: Add description. diff --git a/doc/architecture/reference_points.adoc b/doc/architecture/reference_points.adoc new file mode 100644 index 000000000..39ebf5240 --- /dev/null +++ b/doc/architecture/reference_points.adoc @@ -0,0 +1,10 @@ += Reference points + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc new file mode 100644 index 000000000..ef5164e41 --- /dev/null +++ b/doc/architecture/sensor_data.adoc @@ -0,0 +1,9 @@ += Sensor data + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/sensor_model.adoc b/doc/architecture/sensor_model.adoc new file mode 100644 index 000000000..c6b93997e --- /dev/null +++ b/doc/architecture/sensor_model.adoc @@ -0,0 +1,9 @@ += Sensor model + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc new file mode 100644 index 000000000..1bdec6fc7 --- /dev/null +++ b/doc/architecture/sensor_view.adoc @@ -0,0 +1,9 @@ += Sensor view + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc new file mode 100644 index 000000000..c7e9f3f02 --- /dev/null +++ b/doc/architecture/sensor_view_configuration.adoc @@ -0,0 +1,9 @@ += Sensor view configuration + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/test_scripts.adoc b/doc/architecture/test_scripts.adoc new file mode 100644 index 000000000..72a061235 --- /dev/null +++ b/doc/architecture/test_scripts.adoc @@ -0,0 +1,45 @@ += Test scripts + +TODO: Add general description. + +__init__.py:: +TODO: Add description. + +test_comment_type.py:: +TODO: Add description. + +test_doxygen_output.py:: +TODO: Add description. + +test_invalid_comment.py:: +TODO: Add description. + +test_invalid_enum.py:: +TODO: Add description. + +test_invalid_html.py:: +TODO: Add description. + +test_invalid_message.py:: +TODO: Add description. + +test_invalid_punctuation.py:: +TODO: Add description. + +test_invalid_tabs.py:: +TODO: Add description. + +test_newline.py:: +TODO: Add description. + +test_non_ascii.py:: +TODO: Add description. + +test_osi_trace.py:: +TODO: Add description. + +test_rules.py:: +TODO: Add description. + +test_units.py:: +TODO: Add description. diff --git a/doc/architecture/trace_file_formats.adoc b/doc/architecture/trace_file_formats.adoc new file mode 100644 index 000000000..8367a3a53 --- /dev/null +++ b/doc/architecture/trace_file_formats.adoc @@ -0,0 +1,9 @@ += OSI trace file formats + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc new file mode 100644 index 000000000..c2c717835 --- /dev/null +++ b/doc/architecture/trace_file_naming.adoc @@ -0,0 +1,9 @@ += OSI trace file naming conventions + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/traffic_participant.adoc b/doc/architecture/traffic_participant.adoc new file mode 100644 index 000000000..137bea8d0 --- /dev/null +++ b/doc/architecture/traffic_participant.adoc @@ -0,0 +1,24 @@ += Traffic participant + +A traffic participant is an element of the simulated world, which can change its state during simulation time, for example, position and orientation. +A traffic participant represents one of the following: + +- A living being. +- A means of transportation for living beings +- A means of transportation for goods +- Any other movable object that may travel the road network + +Pedestrians and animals are examples of traffic participants that are living beings. +Vehicles are examples of traffic participants that are means of transportation. +Therefore, the ego vehicle is also a traffic participant. + +The following figure shows the interface of a traffic participant. + +TODO: Add image of traffic participant interface. + +With every simulation step, an OSI traffic participant model receives ground truth data from the environment around itself, the sensor view. +A traffic participant can output its own perceivable state, the traffic update. +Traffic commands influence the behavior of the traffic participant model. +They allow event-based communication towards the traffic participant, that is, at certain simulation steps. +Traffic commands do not necessarily need to come from the environment simulation. +They may come from a separate source, for example, a scenario engine. \ No newline at end of file diff --git a/doc/architecture/vehicle_dynamics.adoc b/doc/architecture/vehicle_dynamics.adoc new file mode 100644 index 000000000..ff7d9c2b2 --- /dev/null +++ b/doc/architecture/vehicle_dynamics.adoc @@ -0,0 +1,9 @@ += Vehicle dynamics + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/commenting.rst b/doc/commenting.rst deleted file mode 100644 index cabb5f584..000000000 --- a/doc/commenting.rst +++ /dev/null @@ -1,339 +0,0 @@ -.. _commenting: - -Commenting -=========== - -During the building process of open simulation interface (using the `proto2cpp `_ filter), doxygen is creating a `reference documentation `_ processing all comments written in the code of the interface. In order to do that doxygen needs the comments to be written in a certain way. Please follow these rules to achieve that the reference documentation is created correctly. You will find further information on doxygen `here `_. - -For any additional comment styles see `list `_ of doxygen commands. - -Reference for writing values and units: ISO 80000-1:2013-08, Quantities and units – Part 1: General -Nice summary in German: `Rohde & Schwarz: Der korrekte Umgang mit Groessen, Einheiten und Gleichungen `_ - - -Commenting with block syntax ------------------------------ -Start every comment with ``//`` and do not use ``///``. - - -Commenting on messages ------------------------- -When writing comments specifying messages please use the following template: - -.. code-block:: protobuf - - // - // - message ExampleMessage - { - } - -Doxygen will interpret a comment consisting just of one single line as a brief description. -However to keep the style of the documentation coherent there should not be any brief description when commenting on fields and enums. That is why adding one more empty line when commenting becomes necessary. There is no need for an extra empty line if you are commenting more than one line anyways. - -.. code-block:: protobuf - - // - // <... you do not need to add an empty line> - message ExampleMessage - { - } - -The commenting for messages follows the following order: - -1. Brief description -2. Image -3. Detailed description -4. Note - -First you define the message. - -.. code-block:: protobuf - - message EnvironmentalConditions - { - } - -Next provide a brief description of the message with ``\brief``. - -.. code-block:: protobuf - - // \brief The conditions of the environment. - // - message EnvironmentalConditions - { - } - -Then you can optionally provide an image to explain the message better. A picture is worth a thousand words. - -.. code-block:: protobuf - - // \brief The conditions of the environment. - // - // \image html EnvironmentalConditions.svg - // - message EnvironmentalConditions - { - } - -You can optionally add a detailed description which can have multiple lines. - -.. code-block:: protobuf - - // \brief The conditions of the environment. - // - // \image html EnvironmentalConditions.svg - // - // Definition of light, weather conditions and other environmental conditions. - // - message EnvironmentalConditions - { - } - -Lastly you can add a small note about the message and have a completely commented message. - -.. code-block:: protobuf - - // \brief The conditions of the environment. - // - // \image html EnvironmentalConditions.svg - // - // Definition of light, weather conditions and other environmental conditions. - // - // \note These conditions apply locally around the host vehicle. - // - message EnvironmentalConditions - { - } - -Commenting on fields and enums --------------------------------- -The commenting for fields and enums follows the following order: - -1. Explanation -2. Unit -3. Note -4. Reference -5. Rule - -First you add a field into a message with an appropriate index number. - -.. code-block:: protobuf - - // \brief The conditions of the environment. - // - // \image html EnvironmentalConditions.svg - // - // Definition of light, weather conditions and other environmental conditions. - // - // \note These conditions apply locally around the host vehicle. - // - message EnvironmentalConditions - { - optional double atmospheric_pressure = 1; - } - - - -Then you describe the field by adding an explanation. - -.. code-block:: protobuf - - // \brief The conditions of the environment. - // - // \image html EnvironmentalConditions.svg - // - // Definition of light, weather conditions and other environmental conditions. - // - // \note These conditions apply locally around the host vehicle. - // - message EnvironmentalConditions - { - // Atmospheric pressure in Pascal at z = 0.0 m in world frame (about 101325 Pa). - // - optional double atmospheric_pressure = 1; - } - -Next you decide the unit of the field. - -.. code-block:: protobuf - - // \brief The conditions of the environment. - // - // \image html EnvironmentalConditions.svg - // - // Definition of light, weather conditions and other environmental conditions. - // - // \note These conditions apply locally around the host vehicle. - // - message EnvironmentalConditions - { - // Atmospheric pressure in Pascal at z = 0.0 m in world frame (about 101325 Pa). - // - // Unit: Pa - // - optional double atmospheric_pressure = 1; - } - -You can optionally add a note to the field to describe the field better. - -.. code-block:: protobuf - - // \brief The conditions of the environment. - // - // \image html EnvironmentalConditions.svg - // - // Definition of light, weather conditions and other environmental conditions. - // - // \note These conditions apply locally around the host vehicle. - // - message EnvironmentalConditions - { - // Atmospheric pressure in Pascal at z = 0.0 m in world frame (about 101325 Pa). - // - // Unit: Pa - // - // \note 100000 Pa = 1 bar - // - optional double atmospheric_pressure = 1; - } - -To help understanding the field, you should add a reference. -Every OSI message should be defined properly and should have a well cited reference. - -**Citation style for different sources:** - -- Within the text, the number system is used with the number of the source in brackets [#] for mentioning. -- We use the so called `"APA style" `_ from the American Psychological Association for referencing. -- In the references list, the number in brackets [#] is followed by a full citation. -- For writing the title in italic, use title. -- If the list contains more than one entry, add " \n " at the end of the line to create a line break within the list. -- Author names are written as , like Authorname, A. A. -- Editor names are written as like B. B. Editorname. -- Naming pages at the end is optional to enable finding in long texts or for direct citations. -- All citations should be primary citations. Sources like Wikipedia et al. are not allowed. -- Find filled-out examples under `https://apastyle.apa.org `_ and in existing entries. -- The scheme of popular sources for the reference list is as follows (replace tags with corresponding values): - -1. , , & . (). Contribution in a compilation title. . . . . . . . - -2. , & . (). . . . . . - -3. & . (). . In & (Eds.), (). . . . - -4. & . (). . . . . . . - -5. . (). . Phd. thesis. . . . . - -6. . (, ). . Retrieved , , from . - -7. . (). </em>. (<standard identifier>). <location>. - -8. <author>. (<year>). <em><patent title and id></em>. <location>. <organisation>. - - - -.. code-block:: protobuf - - // \brief The conditions of the environment. - // - // \image html EnvironmentalConditions.svg - // - // Definition of light, weather conditions and other environmental conditions. - // - // \note These conditions apply locally around the host vehicle. - // - message EnvironmentalConditions - { - // Atmospheric pressure in Pascal at z = 0.0 m in world frame (about 101325 Pa) [1, 2]. - // - // Unit: Pa - // - // \note 100000 Pa = 1 bar - // - // \par References: - // [1] DIN Deutsches Institut fuer Normung e. V. (1982). <em>DIN 5031-3 Strahlungsphysik im optischen Bereich und Lichttechnik - Groessen, Formelzeichen und Einheiten der Lichttechnik</em>. (DIN 5031-3:1982-03). Berlin, Germany. \n - // [2] Rapp, C. (2017). Grundlagen der Physik. In <em>Hydraulik fuer Ingenieure und Naturwissenschaftler</em> (pp.23-36). Springer Vieweg. Wiesbaden, Germany. https://doi.org/10.1007/978-3-658-18619-7_3. p. 105. - // - optional double atmospheric_pressure = 1; - } - -Finally you can provide a set of rules which this field needs to be followed. The available rules can be found below. When adding rules to \*.proto files make sure that the rules are encapsulated between the ``\rules`` and ``\endrules`` tags. Now you have a fully commented message with a fully commented field. - -.. code-block:: protobuf - - // \brief The conditions of the environment. - // - // \image html EnvironmentalConditions.svg - // - // Definition of light, weather conditions and other environmental conditions. - // - // \note These conditions apply locally around the host vehicle. - // - message EnvironmentalConditions - { - // Atmospheric pressure in Pascal at z = 0.0 m in world frame (about 101325 Pa) [1, 2]. - // - // Unit: Pa - // - // \note 100000 Pa = 1 bar - // - // \par References: - // [1] DIN Deutsches Institut fuer Normung e. V. (1982). <em>DIN 5031-3 Strahlungsphysik im optischen Bereich und Lichttechnik - Groessen, Formelzeichen und Einheiten der Lichttechnik</em>. (DIN 5031-3:1982-03). Berlin, Germany. \n - // [2] Rapp, C. (2017). Grundlagen der Physik. In <em>Hydraulik fuer Ingenieure und Naturwissenschaftler</em> (pp.23-36). Springer Vieweg. Wiesbaden, Germany. https://doi.org/10.1007/978-3-658-18619-7_3. p. 105. - // - // \rules - // is_optional - // is_greater_than_or_equal_to: 90000 - // is_less_than_or_equal_to: 200000 - // \endrules - // - optional double atmospheric_pressure = 1; - } - - -The rule definition must follow the syntax which is defined by a regex search which you can see below: - -.. code-block:: python - - 'is_greater_than': r'^[ ]\b(is_greater_than)\b: ([\s\d]+)$' # is_greater_than: 1 - 'is_greater_than_or_equal_to': r'^[ ]\b(is_greater_than_or_equal_to)\b: ([\s\d]+)$' # is_greater_than_or_equal_to: 1 - 'is_less_than_or_equal_to': r'^[ ]\b(is_less_than_or_equal_to)\b: ([\s\d]+)$' # is_less_than_or_equal_to: 10 - 'is_less_than': r'^[ ]\b(is_less_than)\b: ([\s\d]+)$' # is_less_than: 2 - 'is_equal': r'^[ ]\b(is_equal_to)\b: ([\s\d]+)$' # is_equal_to: 1 - 'is_different': r'^[ ]\b(is_different_to)\b: ([\s\d]+)$' # is_different_to: 2 - 'is_global_unique': r'^[ ]\b(is_globally_unique)\b' # is_globally_unique - 'refers': r'^[ ]\b(refers_to)\b' # refers_to: DetectedObject - 'is_iso_country_code': r'^[ ]\b(is_iso_country_code)\b' # is_iso_country_code - 'first_element': r'^[ ]\b(first_element)\b' # first_element height is_equal_to 0.13 - 'last_element': r'^[ ]\b(last_element)\b' # last_element width is_equal_to 0.13 - 'check_if': r'^[ ](\bcheck_if\b)(.*\belse do_check\b)' # check_if this.type is_equal_to 2 else do_check is_set - -You can check the correctness of these regular expression on `regex101 <https://regex101.com/r/P4KeuO/1>`_. - - -Commenting with doxygen references ------------------------------------- -If you need to reference to another message etc., you can achieve that by just using the exact same name of this message (upper and lower case sensitive) in your comment and put '\c' in front of the message name. - -.. code-block:: protobuf - - // A reference to \c GroundTruth message. - -If you want to reference a nested message, use '::' instead of '.' as separators in comments. - -If you want to reference message fields and enums add '#' to the enum/field name. - -.. code-block:: protobuf - - // A reference to a enum e.g. \c #COLOR_GREEN. - -Commenting with links (e.g. in references) ------------------------------------------- -With ``[<add name of your link>](<add url of your link>)`` you can integrate a link to a certain homepage while commenting. - -Commenting with images ----------------------- -To include images write your comment similar to this ``// \image html <Add name of your image> "<Add optional caption here>"`` -Please place all your included images in ``./open-simulation-interface/docs/images``. - diff --git a/doc/coordinatesystem.rst b/doc/coordinatesystem.rst deleted file mode 100644 index 064894593..000000000 --- a/doc/coordinatesystem.rst +++ /dev/null @@ -1,37 +0,0 @@ -Coordinate systems and reference points -============================================ - -Coordinate systems -------------------- - -Currently three coordinate systems exist. - -- world frame (for all quantities which are part of groundtruth) -- sensor frame (for all quantities which are part of sensordata) -- object frame (for local object coordinates like axle offset vectors) - -The transformation between frames for a specific vehicle/sensor is performed using the information in - -- ``GroundTruth::moving_object::base::position and ::orientation``: These define the position and orientation of the vehicle's reference point, i.e. center of bounding box. -- ``GroundTruth::moving_object::vehicle_attributes::bbcenter_to_rear``: This defines the vehicle frame origin resp. the relative frame of the vehicle, i.e. it defines the offset of the rear axis center relative to the vehicle's reference point (center of bounding box). This offset is static and given in vehicle coordinates. -- ``SensorData::mounting_position``: This defines the sensor's position and orientation relative to the vehicle frame's origin, i.e. rear axis center, and therefore defines sensor frame origin resp. the relative frame of the sensor. - - -Reference points ------------------- - -All position coordinates refer to the center of the bounding box of the object (vehicle or otherwise). This does not depend on the reference frame and is identical for all objects without exceptions. - - -Example: Position vectors of vehicles ---------------------------------------- - -A position vector consists of two points + orientation / coordinate system: - -**start point**: This is the origin of the coordinate system. (i.e. sensor frame or world frame). - -**end point**: often referred to as reference point. It is always the middle of the bounding box. - -**orientation**: captured by the coordinate system. (i.e. sensor frame or world frame). - -Open Simulation Interface uses DIN ISO 8855:2013-11 for coordinate systems and transformations between coordinate systems. \ No newline at end of file diff --git a/doc/description.rst b/doc/description.rst deleted file mode 100644 index 055143f70..000000000 --- a/doc/description.rst +++ /dev/null @@ -1,188 +0,0 @@ -General description -====================== - -`TUM Department of Electrical and Computer Engineering`_ - -Global remarks --------------- - -All fields in the interface are set to optional and required is not -used. This has been done to allow backward compatible changes in the -field. Additionally, this is the default behavior in protobuf version 3 -that does no longer have the required type and therefore ensures update -compatibility. However, this does not mean that filling the field is -optional. For the purpose of providing a complete interface, all -existing fields should be set, unless not setting a field carries a -specific meaning as indicated in the accompanying comment. - -All field numbers of 10000 and upward are available for user-specific -extensions (i.e. custom fields), so no future evolution of OSI will -use field numbers of 10000 or above itself. - -Compatibility -------------- - -Definition: FAITHFULLY "All recorded data is correctly interpreted by -the interface" - -Forward compatibility: Definition: "An older version of the code can be -used to read new files" Data recorded with a higher minor or patch -version can be interpreted by code built using the same major version of -the interface but lower minor and/or patch version. In this case, -additional fields of a newer minor version are silently ignored. All -patch versions of the same major and minor version are FAITHFULLY -forward compatible. - -Backward compatibility: Definition: "A newer version of code can be used -to read old files" All files that have been recorded in the past with a -specific major version are FAITHFULLY valid with all combinations of -higher minor and patch versions of the same major version. - -.. # Old way of OSI 2 to inject errors -.. Fault injection: how-to -.. ----------------------- - -.. Injection of predefined sensor errors should be handled by a -.. specialized "fault injector" component that acts like a sensor model -.. component, i.e. it takes a SensorData message as input and returns a -.. modified SensorData message as output. Specific errors should be handled -.. as follows: - -.. - Ghost objects / false positive: An additional SensorDataObject is -.. added to the list of objects in SensorData.object with -.. SensorDataObject.model_internal_object.ground_truth_type set to -.. kTypeGhost. -.. - False negative: The object is marked as not seen by the sensor by -.. setting the property SensorDataObject.model_internal_object.is_seen -.. to false. The implementation of field-of-view calculation modules -.. should respect this flag and never reset an object marked as not-seen -.. to seen. - -Proto3 Support --------------- - -For users that need to use proto3 syntax, for example because the -language binding of choice only supports proto3 syntax out of the box, a -shell script called `convert-to-proto3.sh <https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/convert-to-proto3.sh>`_ is supplied that converts -all proto files to proto3 syntax. If this is run prior to building, the -resulting libraries will use proto3, with the on-the-wire format -remaining compatible between proto2 and proto3 libraries. - -.. note:: - In the current OSI proto2 files there are no "required" fields or "[default = xx] values assigned. - This is intentional since the use is prohibited for now. The reason for that is the conversion from proto2 to proto3 which would require to remove defaults or required attributes and therefore change the meaning of the proto file (and thus also the valid on-the-wire protocol) silently, and is thus dangerous. - -OSI Trace Files ---------------- - -If you have a serialized txt trace file which is separating OSI messages by ``$$__$$`` you can convert -the trace file to the official OSI file format which uses the length of OSI messages to store and read them in a file. -Use the script txt2osi.py in the ``format`` directory for that. See usage example below: - -.. code-block:: bash - - python3 txt2osi.py -h - python3 txt2osi.py -d trace.txt - python3 txt2osi.py -d trace.txt -o myfile - -To make serialized txt/osi files human readable call the converter osi2read.py. See usage example below: - -.. code-block:: bash - - python3 osi2read.py -h - python3 osi2read.py -d trace.osi - python3 osi2read.py -d trace.txt -f separated -o myfile - - -Packaging ---------- - -A specification to package sensor models using OSI as (extended) -Functional Mock-up Units (FMUs) for use in simulation environments is -available `here`_. - -Vector Images --------------- -The vector images for the open-simulation-interface documentation are provided in the .svg-format. - -Creating vector images -~~~~~~~~~~~~~~~~~~~~~~~ - -Objects such as roads, vehicles, signs, etc. that are embedded in the graphics are based on realistic high detailed 3D models. -The overall scene and 3D objects are modelled using the 3D modelling software `Blender <https://www.blender.org/>`_. -The Freestyle SVG Exporter from Blender is used to convert the modelled 3D scene into vector graphics. - -The Freestyle SVG Exporter add-on from Blender can be activated via the Render user settings. -The GUI for the Exporter is located in the Render tab of the Properties Editor. After rendering, the exported .svg file is written to the output path. - -For more information about Blender's Freestyle SVG Exporter add-on see: `docs.blender.org <https://docs.blender.org/manual/en/latest/render/freestyle/export_svg.html>`_ - -Following settings are used for exporting: -Freestyle SVG Export: -Frame, Round; -LineThickness = Absolute, 1.000px; - -Freestyle Line Set: -Visibility = Visible, -Edgetype = Inclusive, -Silhouette = true, -Border = true; - -Editing vector images -~~~~~~~~~~~~~~~~~~~~~~~ - -The exported 3D vector graphics can be opened and edited with any image editing program. (e.g. `Inkscape <https://inkscape.org/de/>`_) -The vectors and labels are placed accordingly. -The graphics should generally be kept in a grayscale style. -RGBA code for grey: b3b3b3ff - - -.. Doxygen Reference Documentation -.. -------------------------------- - -.. The doxygen reference documentation of the GitHub master branch is `online`_ -.. available. - - -.. In order to generate the doxygen documentation for OSI, please follow -.. the following steps: - -.. 1. Install `Doxygen`_, set an environmental variable 'doxygen' with the -.. path to the binary file and add it to the PATH variable: -.. ``PATH += %doxygen%``. -.. 2. Download the `proto2cpp`_ repo. Copy the content of the repo -.. proto2cpp to your desired ``<path-to-proto2cpp.py>`` -.. 3. Install `graphviz`_, set an environmental variable 'graphviz' with -.. the path to the binary file and add it to the PATH variable: -.. ``PATH += %graphviz%``. -.. 4. From the cmd navigate to the build directory and run: -.. ``cmd cmake -DFILTER_PROTO2CPP_PY_PATH=<path-to-proto2cpp.py> <path-to-CMakeLists.txt>`` -.. 5. The build process will then generate the doxygen documentation under -.. the directory doc. - -Citing ------- - -Use the following citation for referencing the OSI interface in your -scientific work: - -.. code-block:: latex - - @misc{osi.2017, - author = {Hanke, Timo and Hirsenkorn, Nils and {van~Driesten}, Carlo and {Garcia~Ramos}, Pilar and Schiementz, Mark and Schneider, Sebastian and Biebl, Erwin}, - year = {2017}, - title = {{Open Simulation Interface: A generic interface for the environment perception of automated driving functions in virtual scenarios.}}, - url = {https://www.hot.ei.tum.de/forschung/automotive-veroeffentlichungen/}, - note = {{Accessed: 2019-11-05}}} - -.. _here: https://github.com/OpenSimulationInterface/osi-sensor-model-packaging -.. _online: https://opensimulationinterface.github.io/open-simulation-interface/ -.. _Doxygen: http://www.doxygen.nl/download.html -.. _proto2cpp: https://github.com/OpenSimulationInterface/proto2cpp -.. _graphviz: https://graphviz.gitlab.io/_pages/Download/Download_windows.html -.. _`http://www.hot.ei.tum.de/forschung/automotive-veroeffentlichungen/}`: http://www.hot.ei.tum.de/forschung/automotive-veroeffentlichungen/} -.. _Online Doxygen Documentation: https://opensimulationinterface.github.io/open-simulation-interface/ -.. _TUM Department of Electrical and Computer Engineering: https://www.hot.ei.tum.de/forschung/automotive-veroeffentlichungen/ - -.. |Travis Build Status| image:: https://travis-ci.org/OpenSimulationInterface/open-simulation-interface.svg?branch=master - :target: https://travis-ci.org/OpenSimulationInterface/open-simulation-interface diff --git a/doc/fileformat.rst b/doc/fileformat.rst deleted file mode 100644 index 7e882a541..000000000 --- a/doc/fileformat.rst +++ /dev/null @@ -1,126 +0,0 @@ -OSI File Format -=============== -Formats --------- - -\*.osi -~~~~~~~ -To save multiple serialized OSI messages into one trace file we use the length of each OSI message and save it before the actual OSI message. -The length is represented by the first four bytes which are a little endian unsigned int that represents the length of the followed message, not including the integer itself. - -\*.txt -~~~~~~~ -If you happen to have a trace file which uses ``$$__$$`` separation you can convert it to the official OSI trace file by running: - -.. code-block:: bash - - python3 txt2osi.py -d trace.txt - -\*.txth -~~~~~~~ -To read to content of a serialized txt/osi trace file we also provide a converter ``osi2read.py``. -See the usage below: - -.. code-block:: bash - - python3 osi2read.py -d trace.osi -o readable_trace - python3 osi2read.py -d trace.txt -f separated -o readable_trace - -which outputs a ``readable_trace.txth`` which can be opened by any text editor. - -Summary -~~~~~~~ -In summary we have currently three types of formats: - -1. ``*.osi`` trace files which are length separated. -2. ``*.txt`` trace files which are ``$$__$$`` separated. -3. ``*.txth`` files which are human readable trace files for just plausibility checks. - -Trace file naming convention ------------------------------ -As best practice we recommend to name the trace files in the following format: - -.. code-block:: txt - - <type>_<osi-version>_<protobuf-version>_<frame-number>_<custom-trace-name>.osi - -For example a naming for a trace with the information below: - -.. code-block:: txt - - Type = SensorView - OSI Version= 3.1.2 - Protobuf Version = 3.0.0 - Number of frames = 1523 - Scenario name = highway - -would then look like this: - -.. code-block:: txt - - sv_312_300_1523_highway.osi - -The type definition would only be possible for ``SensorView = sv``, ``SensorData = sd`` and ``GroundTruth = gt``. -By following this best practice users can understand the general content of a file. By comparing the information provided by the naming and the actual trace the user can check the overall validity of a trace file. - -Generate OSI traces --------------------- -If you want to generate a valid OSI trace file which can be used as an input for the `osi-validator <https://github.com/OpenSimulationInterface/osi-validation>`_ or the `osi-visualizer <https://github.com/OpenSimulationInterface/osi-visualizer>`_ see the example script in python below: - -.. code-block:: python - - from osi3.osi_sensorview_pb2 import SensorView - import struct - - def main(): - """Initialize SensorView""" - f = open("sv_312_320_10_movingobject.osi", "ab") - sensorview = SensorView() - - sv_ground_truth = sensorview.global_ground_truth - sv_ground_truth.version.version_major = 3 - sv_ground_truth.version.version_minor = 0 - sv_ground_truth.version.version_patch = 0 - - sv_ground_truth.timestamp.seconds = 0 - sv_ground_truth.timestamp.nanos = 0 - - moving_object = sv_ground_truth.moving_object.add() - moving_object.id.value = 114 - - # Generate 10 OSI messages for 9 seconds - for i in range(10): - - # Increment the time - sv_ground_truth.timestamp.seconds += 1 - sv_ground_truth.timestamp.nanos += 100000 - - moving_object.vehicle_classification.type = 2 - - moving_object.base.dimension.length = 5 - moving_object.base.dimension.width = 2 - moving_object.base.dimension.height = 1 - - moving_object.base.position.x = 0.0 + i - moving_object.base.position.y = 0.0 - moving_object.base.position.z = 0.0 - - moving_object.base.orientation.roll = 0.0 - moving_object.base.orientation.pitch = 0.0 - moving_object.base.orientation.yaw = 0.0 - - """Serialize""" - bytes_buffer = sensorview.SerializeToString() - f.write(struct.pack("<L", len(bytes_buffer)) + bytes_buffer) - - f.close() - - if __name__ == "__main__": - main() - -In the script we initialize the type we want to use for the messages. Here we use the type ``SensorView``. -For the ``SensorView`` it is mandatory to define the version and the timestamp. After that we can add objects. -Here we add a moving object with the ID 114. For this object we generate in a for loop 10 OSI messages which all have different x values over a time span of 9 seconds. -This means the object is changing the position in the x direction through the iteration each second. -Each time we change the x value and the timestamp we append the length of the OSI message and the serialized OSI message itself to a file called ``sv_312_320_10_movingobject.osi``. -After finishing the loop we now have a ``sv_312_320_10_movingobject.osi`` file which can be `validated <https://github.com/OpenSimulationInterface/osi-validation>`_ and `visualized <https://github.com/OpenSimulationInterface/osi-visualizer>`_. diff --git a/doc/howtocontribute.rst b/doc/howtocontribute.rst deleted file mode 100644 index 29a912ece..000000000 --- a/doc/howtocontribute.rst +++ /dev/null @@ -1,319 +0,0 @@ -.. _how-to-contribute: - -Contributors' Guidelines -========================= - -Introduction ------------- - -The purpose of this document is to help contributors get started with -the ASAM Open Simulation Interface (OSI) codebase. - -As an open-source standardisation project, we welcome and encourage the community to submit patches directly to the project. In our collaborative open source environment, standards and methods for submitting changes help reduce the chaos that can result from an active development community. - -This document explains how to participate in project conversations, log bugs and enhancement requests, and submit patches to the project so your patch will be accepted quickly in the codebase. - -Licensing ---------- - -OSI uses the Mozilla Public License, v. 2.0. (as found in the LICENSE file in the project’s GitHub repo). - -The license tells you what rights you have as a developer, provided by the copyright holder. It is important that the contributor fully understands the licensing rights and agrees to them. Sometimes the copyright holder isn’t the contributor, such as when the contributor is doing work on behalf of a company. - -Developer Certification of Origin (DCO) ---------------------------------------- - -To make a good faith effort to ensure licensing criteria are met, the OSI project requires the Developer Certificate of Origin (DCO) process to be followed. - -The DCO is an attestation attached to every contribution made by every developer. In the commit message of the contribution, (described more fully later in this document), the developer simply adds a Signed-off-by statement and thereby agrees to the DCO. - -When a developer submits a patch, it is a commitment that the contributor has the right to submit the patch per the license. The DCO agreement is shown below and `online <http://developercertificate.org/>`_. -:: - - Developer's Certificate of Origin 1.1 - - By making a contribution to this project, I certify that: - - (a) The contribution was created in whole or in part by me and I - have the right to submit it under the open source license - indicated in the file; or - - (b) The contribution is based upon previous work that, to the - best of my knowledge, is covered under an appropriate open - source license and I have the right under that license to - submit that work with modifications, whether created in whole - or in part by me, under the same open source license (unless - I am permitted to submit under a different license), as - Indicated in the file; or - - (c) The contribution was provided directly to me by some other - person who certified (a), (b) or (c) and I have not modified - it. - - (d) I understand and agree that this project and the contribution - are public and that a record of the contribution (including - all personal information I submit with it, including my - sign-off) is maintained indefinitely and may be redistributed - consistent with this project or the open source license(s) - involved. - -DCO Sign-Off Methods --------------------- - -The DCO requires a sign-off message in the following format appear on each commit in the pull request: -:: - - Signed-off-by: Firstname Lastname <email@address.com> - -The DCO text can either be manually added to your commit body, or you can add either ``-s`` or ``--signoff`` to your usual Git commit commands. If you forget to add the sign-off you can also amend a previous commit with the sign-off by running ``git commit --amend -s``. You can add sign-offs to multiple commits (including commits originally authored by others, if you are authorized to do so) using ``git rebase --signoff``. If you’ve pushed your changes to GitHub already you’ll need to force push your branch after this with ``git push --force-with-lease``. - -If you want to be reminded to add the sign-off for commits in your repository, you can add the following commit-message git hook to your repository: - -.. code:: shell - - #!/bin/sh - # - # Check for DCO/Signed-off-by in message - # - - if ! grep -q "^Signed-off-by: " "$1" - then - echo "Aborting commit: Commit message is not signed off" >&2 - exit 1 - fi - -Placing this script into a file called ``.git/hooks/commit-msg`` and making it executable (e.g. using ``chmod a+x .git/hooks/commit-msg`` on unixoid operating systems) will prevent commits without a sign-off. - - -Reporting issues ----------------- - -The simplest way to contribute to OSI is to report issues that you may -find with the project on `github <https://github.com/OpenSimulationInterface/open-simulation-interface>`__. Everyone can create issues. -Always make sure to search the existing issues before reporting a new one. -Issues may be created to discuss: - -- `Feature requests or Ideas <https://github.com/OpenSimulationInterface/open-simulation-interface/issues/new?assignees=&labels=feature+request&template=feature_request.md&title=>`_ -- `Bugs <https://github.com/OpenSimulationInterface/open-simulation-interface/issues/new?assignees=&labels=bug&template=bug_report.md&title=>`_ -- `Questions <https://github.com/OpenSimulationInterface/open-simulation-interface/issues/new?assignees=&labels=question&template=question.md&title=>`_ -- `Other <https://github.com/OpenSimulationInterface/open-simulation-interface/issues/new>`_ - -If practicable issues should be closed by a referenced pull request or commit (`here <https://help.github.com/en/articles/closing-issues-using-keywords>`_ you can find keywords to close issues automatically). To help developers and maintainers we provide a `pull request template <https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/.github/pull_request_template.md>`_ which will be generated each time you create a new pull request. - -First steps ------------ - -First, make sure that you are proficient enough in protobuf. The developers -website https://developers.google.com/protocol-buffers/ is a great place to start learning. -You may want to make sure that you master these `advanced concepts <https://developers.google.com/protocol-buffers/docs/proto3>`_. - -Download and install the protocol buffer on your computer, pick up your favorite programming language and try to encode and decode your custom made osi messages. -It is a good idea to read the `tutorials <https://developers.google.com/protocol-buffers/docs/tutorials>`_ for that in your favorite programming language. - -For contribution you also need be proficient in Git. You can download and read the book Pro Git by Scott Chacon and Ben Straub `here <https://link.springer.com/book/10.1007%2F978-1-4842-0076-6>`_ for free. -Learn `how to fork a repository <https://help.github.com/en/articles/fork-a-repo>`_ and follow the suggested `fork workflow <https://www.atlassian.com/git/tutorials/comparing-workflows>`_ by Atlassian. -Become a github guru :). - -Where to start --------------- - -While you familiarize yourself with the basics as suggested above, you -can have a look at the `doxgen API reference <https://opensimulationinterface.github.io/open-simulation-interface/annotated.html>`_ of OSI. It will -give you an overview of the OSI messages, fields, their main components and their meaning. - -Our git workflow ----------------- - -First, the main repository of the OSI Organization is https://github.com/OpenSimulationInterface/open-simulation-interface. -The other repositories are optional extensions which add functionality to OSI like `validation <https://github.com/OpenSimulationInterface/osi-validation>`_, `visualization <https://github.com/OpenSimulationInterface/osi-visualizer>`_ and `model packaging <https://github.com/OpenSimulationInterface/osi-sensor-model-packaging>`_. -The repository `proto2cpp <https://github.com/OpenSimulationInterface/proto2cpp>`_ is a fork which is used in this organization to convert \*.proto files into \*.cpp files which can be parsed by doxygen to create a `reference documentation <https://opensimulationinterface.github.io/open-simulation-interface/>`_. - -Then, there are many ways to use Git, here is ours: - -After you have opened an issue, with the tag ``feature request`` or ``idea`` -explaining your enhancement to the project, you should -also provide a possible approach or suggest a possible solution. -After a discussion if the feature is plausible or adds value -to the project you can create a pull request -and reference it to your opened issue. - -We mostly use squash and merge for pull requests for master. -Instead of seeing all of a -contributor's individual commits from a topic branch, -the commits are combined -into one commit and merged into the master branch. -Once a pull request is ready, it is reviewed and -approved, then squashed using the ``--fast-forward`` option of Git in order to -maintain a streamlined Git history. Pull requests without a Sign-Off message (see DCO above) will not be accepted. - -**We also enforce a few hygiene rules**: - -- Prefer small atomic commits over a large one that do many things. -- Don’t mix refactoring and new features. -- Never mix re indentation, whitespace deletion, or other style changes - with actual code changes. -- If you add new osi messages into a \*.proto file, don’t forget to - extend the documentation and comment on the message and on each field (for more information see :ref:`commenting`). -- Don't forget to run the unit tests for comment compliance in the folder `tests <https://github.com/OpenSimulationInterface/open-simulation-interface/tree/master/tests>`_ with ``python -m unittest discover tests`` to check if you followed the correct syntax guidelines for \*.proto files -- Try and mimic the style of commit messages, and for non trivial - commits, add an extended commit message. - -**As per the hygiene of commits themselves**: - -- Give appropriate titles to the commits, and when non-trivial add a - detailed motivated explanation. -- Give meaningful and consistent names to branches. -- Don’t forget to put a ``WIP:`` flag when it is a work in progress - - -**Our branching workflow summary (member)**: - -- Create issues for changes, improvements and ideas! -- Clone repository on your local machine -- Create a branch with a meaningful name: ``prefix/name``, ``feature/new-environmental-conditions`` -- prefixes: feature, experimental, bug, etc. -- Add your suggestions to the code Do not use: ``*git add -A *git commit -A`` -- The code should compile and pass all `unit tests <https://github.com/OpenSimulationInterface/open-simulation-interface/tree/master/tests>`_ for a pull-request! -- Try to make small changes for easier discussions -- The person willing to merge needs to adjust the version according to :ref:`versioning` before hitting merge - - -**Our forking workflow summary (no member)**: - -- Create a personal fork on your account -- Clone to your local machine -- Make changes -- Create pull-request -- Discuss with issues and with comments in the pull-request -- !!! Consider becoming a member !!! - -**Documentation changes**: - -- Can be performed by anyone. -- Consider adding stuff to the `osi-documentation <https://github.com/OpenSimulationInterface/osi-documentation>`_ or directly to the `doc <https://github.com/OpenSimulationInterface/open-simulation-interface/tree/master/doc>`_ folder in the repository. -- When new changes are made directly to the osi-documentation repo the documentation will be rebuild and the new changes can be seen. When making documentation changes in the doc folder of the osi repository the changes will be visible when the daily chron job of osi-documentation is executed. - -Code Review ------------ - -At OSI all the code is peer reviewed before getting committed in the -master branch. Briefly, a code review is a discussion between two or -more developers about changes to the code to address an issue. - -Author Perspective -~~~~~~~~~~~~~~~~~~ - -Code review is a tool among others to enhance the quality of the code and to -reduce the likelihood of introducing new bugs in the code base. It is a -technical discussion, it is not an exam, but it is a common effort to -learn from each other. - -These are a few common suggestions we often give while reviewing new code. -Addressing these points beforehand makes the reviewing process easier and less -painful for everybody. The reviewer is your ally, not your enemy. - -- Commented code: Did I remove any commented out lines? - Did I leave a ``TODO`` or an old comment? - -- Readability: Is the code easy to understand? Is it worth adding - a comment to the code to explain a particular operation and its - repercussion on the rest of the code? - -- Variable and function names: These should be meaningful and in line - with the convention adopted in the code base. - -- Are your Commit messages meaningful? (i.e., https://chris.beams.io/posts/git-commit/ ) - -Review your own code before calling for a peer review from a college. - -Reviewer Perspective -~~~~~~~~~~~~~~~~~~~~ - -Code review can be challenging at times. These are suggestions and common -pitfalls a code reviewer should avoid. - -- Ask questions: What is the purpose of this message? If this requirement changes, - what else would have to change? How could we make this more maintainable? - -- Discuss in person for more detailed points: Online comments are useful for - focused technical questions. In many occasions it is more productive to - discuss it in person rather than in the comments. Similarly, if discussion - about a point goes back and forth, It will be often more productive to pick - it up in person and finish out the discussion. - -- Explain reasoning: Sometimes it is best to both ask if there is a better - alternative and at the same time justify why a problem in the code is worth - fixing. Sometimes it can feel like the changes suggested are nit-picky - without context or explanation. - -- Make it about the code: It is easy to take notes from code reviews - personally, especially if we take pride in our work. It is best to make - discussions about the code than about the developer. It lowers resistance and - it is not about the developer anyway, it is about improving the quality of - the code. - -- Suggest importance of fixes: While offering many suggestions at once, it is - important to also clarify that not all of them need to be acted upon and some - are more important than others. It gives an important guidance to the developer - to improve their work incrementally. - -- Take the developer's opinion into consideration: Imposing a particular design - choice out of personal preferences and without a real explanation will - incentivize the developer to be a passive executor instead of a creative agent. - -- Do not re-write, remove or re-do all the work: Sometimes it is easier to - re-do the work yourself discarding the work of the developer. This can give - the impression that the work of the developer is worthless and adds - additional work for the reviewer that effectively takes responsibility for - the code. - -- Consider the person you are reviewing: Each developer is a person. If you - know the person, consider their personality and experience while reviewing their - code. Sometime it is possible with somebody to be more direct and terse, while - other people require a more thorough explanation. - -- Avoid confrontational and authoritative language: The way we communicate has - an impact on the receiver. If communicating a problem in the code or a - suggestion is the goal, making an effort to remove all possible noise from - the message is important. Consider these two statements to communicate about - a problem in the code : "This operation is wrong. Please fix it." and - "Doing this operation might result in an error, can you please - review it?". The first one implies you made an error (confrontational), and - you should fix it (authority). The second suggest to review the code because - there might be a mistake. Despite the message being the same, the recipient might - have a different reactions to it and impact on the quality of this work. This - general remark is valid for any comment. - -Practicalities : how to ask for a code review. -~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ - -Our code review process uses Github. First a developer creates a new -branch (it is often useful to prefix the name of the branch with the name of -the developer to make it clear at glance who is working on what : e.g. -``john@new-feature``). This is a private new branch, the developer is free to -rebase, squash commits, rewrite history (``git push --force``), etc. at will. - -Once the code is ready to be shared with the rest of the team, the developer -opens a Merge Request. It is useful to add a precise description of the code -changes while opening the MR and check if those are in line with the initial -requirements. - -If the code is still not ready to be peer reviewed, but it is merely a -RFC, we prefix the MR with ``WIP:`` (work in progress). This will tell everybody -they can look at the code, comment, but there is still work to be done and the -branch can change and history be rewritten. - -Finally, when the code is ready to be audited, we remove the WIP status of the -MR and we freeze the branch. From this moment on, the developer will refrain to -rewrite history (but he/she can add new commits) and to rebase the branch -without notice. At this point the developer waits for the reviewer to add his -comments and suggestions. - -Github allows to comment both on the code and to add general comments on the -MR. Each comment should be addressed by the developer. He/she can add -additional commits to address each comment. This incremental approach will make -it easier for the reviewer to keep interacting till each discussion is -resolved. When the reviewer is satisfied, he/she will mark the discussion resolved. - -When all discussions are resolved, the reviewer will rebase the branch, -squash commits and merge the MR in the master branch. diff --git a/doc/installation.rst b/doc/installation.rst deleted file mode 100644 index d2b5b1ade..000000000 --- a/doc/installation.rst +++ /dev/null @@ -1,14 +0,0 @@ -.. _how-to-install: - -Installation -=============== - -Please keep in mind that the C++ installing process and the cmake install prefix presented below are not implemented in the current version of the master branch yet! While working with the open simulation interface master branch just follow the steps regarding the configuration of cmake/protobuf and the building process! - -.. toctree:: - :maxdepth: 1 - - linux - windows - - diff --git a/doc/interfaceconventions.rst b/doc/interfaceconventions.rst deleted file mode 100644 index 8171868b7..000000000 --- a/doc/interfaceconventions.rst +++ /dev/null @@ -1,103 +0,0 @@ -.. _iconventions: - -Interface Conventions -====================== - -When adding new messages, enums, field messages and field enums to OSI we enforce a few naming conventions for each type like in the `style guide <https://developers.google.com/protocol-buffers/docs/style>`_ from protobuf. - -Message Naming ---------------- -A message definition should always be in PascalCase. This means that the first letter of each word in a message should be upper case without any spaces. See example below: - -.. code-block:: protobuf - - message EnvironmentalConditions - { - } - -Top-Level Messages -------------------- -All messages that are intended to be exchanged as a stand-alone message, i.e. not required to be embedded in another message, like e.g. ``SensorView`` or ``SensorViewConfiguration``, are required to carry an ``InterfaceVersion`` field as their first field, and a ``Timestamp`` field as their second field, e.g.: - -.. code-block:: protobuf - - message TopLevel - { - // The interface version used by the sender (simulation environment). - // - optional InterfaceVersion version = 1; - - // The data timestamp of the simulation environment. Zero time is arbitrary - // but must be identical for all messages. Zero time does not need to - // coincide with the UNIX epoch. Recommended is the starting time point of - // the simulation. - // - optional Timestamp timestamp = 2; - } - -Field Message Naming ---------------------- -After defining a message fields can be added to it in snake_case format. This means every letter is lower case and the words are connected through an underline character. See example below: - -.. code-block:: protobuf - - message EnvironmentalConditions - { - optional double atmospheric_pressure = 1; - } - -Field Numbering ----------------- - -Fields should be numbered consecutively starting from 1 on first definition. During maintenance, the rules of backward/forward-compatibility require that fields are never renumbered, and field numbers never re-used unless a major release is performed. - -All field numbers of 10000 and above are reserved for user-defined extensions and will thus never be used by OSI message fields. - -Enum Naming ------------- -The naming of an enum should be PascalCase. See example below: - -.. code-block:: protobuf - - message EnvironmentalConditions - { - optional double atmospheric_pressure = 1; - - enum AmbientIllumination - { - } - } - -Enum Field Naming ------------- -The naming of an enum field should be all in upper case. The start should be converted from the enum name PascalCase to UPPER_CASE_SNAKE_CASE. It is mandatory to add to the first enum field name the postfix ``_UNKNOWN`` and to the second the postfix ``_OTHER``. After that the naming can be decided by the user. It is often mentioned that the value ``_UNKNOWN`` should not be used in a ``GroundTruth`` message as there are now uncertanties by definition in ``the truth``. These values are mostly used in messages like ``SensorData`` where the content is subject to interpretation. See example below: - -.. code-block:: protobuf - - message EnvironmentalConditions - { - optional double atmospheric_pressure = 1; - - enum AmbientIllumination - { - AMBIENT_ILLUMINATION_UNKNOWN = 0; - - AMBIENT_ILLUMINATION_OTHER = 1; - - AMBIENT_ILLUMINATION_LEVEL1 = 2; - } - } - -Summary --------- -Here a small summary for the naming conventions: - -Messages: PascalCase - -Message Fields: snake_case - -Enum: PascalCase - -Enum Fields: Name of enum converted in UPPER_CASE_SNAKE_CASE and then following the specified name - -After defining the messages do not forget to comment them. See also the `section for commenting <https://opensimulationinterface.github.io/osi-documentation/open-simulation-interface/doc/commenting.html>`_ of fields and messages. diff --git a/doc/linux.rst b/doc/linux.rst deleted file mode 100644 index d3e0bd5b6..000000000 --- a/doc/linux.rst +++ /dev/null @@ -1,56 +0,0 @@ -Linux -===== -Install ``cmake`` 3.10.2: - -.. code-block:: shell - - $ sudo apt-get install cmake - -Install ``pip3`` and missing python packages: - -.. code-block:: shell - - $ sudo apt-get install python3-pip python-setuptools - -Install ``protobuf`` 3.0.0: - -.. code-block:: shell - - $ sudo apt-get install libprotobuf-dev protobuf-compiler - -C++ ------- - -.. code-block:: shell - - $ git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git - $ cd open-simulation-interface - $ mkdir build - $ cd build - $ cmake .. - $ make - $ sudo make install - - -P.S.: To build a 32-bit target under 64-bit linux, please add ``-DCMAKE_CXX_FLAGS="-m32"`` to the ``cmake`` command. In this case, please make sure that ``protobuf`` is in a 32-bit mode too. - -Python ------------ -**Local**: - -.. code-block:: shell - - $ git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git - $ cd open-simulation-interface - $ sudo pip3 install virtualenv - $ virtualenv -p python3 venv - $ source venv/bin/activate - $ pip install . - -**Global**: - -.. code-block:: shell - - $ git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git - $ cd open-simulation-interface - $ sudo pip3 install . \ No newline at end of file diff --git a/doc/misc/osi_reference.adoc b/doc/misc/osi_reference.adoc new file mode 100644 index 000000000..0f0224886 --- /dev/null +++ b/doc/misc/osi_reference.adoc @@ -0,0 +1,13 @@ += Reference documentation + +TODO: Add link to the doxygen reference documentation. + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. +Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/misc/osi_vision.adoc b/doc/misc/osi_vision.adoc new file mode 100644 index 000000000..fec1c1f8b --- /dev/null +++ b/doc/misc/osi_vision.adoc @@ -0,0 +1,11 @@ += The vision of Open Simulation Interface + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. +Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc new file mode 100644 index 000000000..287f8cbdf --- /dev/null +++ b/doc/open-simulation-interface_user_guide.adoc @@ -0,0 +1,121 @@ += Open simulation interface +:revnumber: v.v.v +:revdate: dd.mm.yyyy +:toc: left +:toclevels: 2 +:sectnums: + +:topicdir: topics +:reusedir: reuse + +// header & footer for html +// html themes +// +// source highlighting +:source-highlighter: rouge +:rouge-style: base16.solarized.light +// +// :nofooter: +:last-update-label!: +//embed images into html +:data-uri: +:mathematical-format: svg +:imagesoutdir: ../images/generated_images + +include::./misc/osi_vision.adoc[leveloffset=+1] + +== The basic design of OSI + +include::./architecture/architecture_overview.adoc[leveloffset=+2] + +=== Top-level interfaces + +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] + +include::./architecture/sensor_data.adoc[leveloffset=+3] + +=== Model types + +include::./architecture/environmental_effect_model.adoc[leveloffset=+3] + +include::./architecture/sensor_model.adoc[leveloffset=+3] + +include::./architecture/logical_model.adoc[leveloffset=+3] + +include::./architecture/traffic_participant.adoc[leveloffset=+3] + +include::./architecture/vehicle_dynamics.adoc[leveloffset=+3] + +=== Coordinate systems and reference points + +include::./architecture/coordinate_systems.adoc[leveloffset=+3] + +include::./architecture/reference_points.adoc[leveloffset=+3] + +=== Layering + +include::./architecture/data_layer.adoc[leveloffset=+3] + +include::./architecture/packaging_layer.adoc[leveloffset=+3] + +=== OSI trace files + +include::./architecture/trace_file_formats.adoc[leveloffset=+3] + +include::./architecture/trace_file_naming.adoc[leveloffset=+3] + +=== Files and scripts + +include::./architecture/proto-files.adoc[leveloffset=+3] + +include::./architecture/test_scripts.adoc[leveloffset=+3] + +include::./architecture/formatting_scripts.adoc[leveloffset=+3] + +== Setting up OSI + +include::./setup/installing_linux.adoc[leveloffset=+2] + +include::./setup/installing_macos.adoc[leveloffset=+2] + +include::./setup/installing_windows.adoc[leveloffset=+2] + +include::./setup/using_osi_support_tools.adoc[leveloffset=+2] + +include::./setup/including_osi_dev_projects.adoc[leveloffset=+2] + +== Example use cases for OSI + +include::./usecases/modeling_lidar_sensor.adoc[leveloffset=+2] + +include::./usecases/modeling_camera_electronics.adoc[leveloffset=+2] + +include::./usecases/injecting_faults.adoc[leveloffset=+2] + +include::./usecases/fusing_sensor_outputs.adoc[leveloffset=+2] + +include::./usecases/modeling_traffic_participant.adoc[leveloffset=+2] + +include::./usecases/benchmark_integration_gpu_radar.adoc[leveloffset=+2] + +include::./usecases/generating_osi_traces.adoc[leveloffset=+2] + +== Improving performance + +TODO: Define topics and issues regarding performance. + +include::./misc/osi_reference.adoc[leveloffset=+1] + +== Releases and compatibility + +include::./releases/releases.adoc[leveloffset=+2] + +include::./releases/versioning.adoc[leveloffset=+2] + +include::./releases/compatibility.adoc[leveloffset=+2] diff --git a/doc/osifiles.rst b/doc/osifiles.rst deleted file mode 100644 index fc65137a8..000000000 --- a/doc/osifiles.rst +++ /dev/null @@ -1,103 +0,0 @@ -OSI files description -====================== -`osi_version.proto`_ ---------------------------------- -This file gives you an interface for defining the version number of the OSI code base. - -`osi_common.proto`_ ---------------------------------- -OSI common provides the building blocks for the OSI field messages. - -`osi_datarecording.proto`_ ---------------------------------- - -`osi_detectedtrafficsign.proto`_ ---------------------------------- - -`osi_detectedtrafficlight.proto`_ ---------------------------------- - -`osi_detectedroadmarking.proto`_ ---------------------------------- - -`osi_detectedobject.proto`_ ---------------------------------- - -`osi_detectedoccupant.proto`_ ---------------------------------- - -`osi_detectedlane.proto`_ ---------------------------------- - -`osi_environment.proto`_ ---------------------------------- - -`osi_groundtruth.proto`_ ---------------------------------- - -`osi_hostvehicledata.proto`_ ---------------------------------- - -`osi_trafficcommand.proto`_ ---------------------------------- - -`osi_trafficupdate.proto`_ ---------------------------------- - -`osi_trafficsign.proto`_ ---------------------------------- - -`osi_trafficlight.proto`_ ---------------------------------- - -`osi_roadmarking.proto`_ ---------------------------------- - -`osi_featuredata.proto`_ ---------------------------------- - -`osi_logicaldetectiondata.proto`_ ---------------------------------- - -`osi_object.proto`_ ---------------------------------- - -`osi_occupant.proto`_ ---------------------------------- - -`osi_lane.proto`_ ---------------------------------- - -`osi_sensordata.proto`_ ---------------------------------- - -`osi_sensorviewconfiguration.proto`_ --------------------------------------- - -`osi_sensorspecific.proto`_ ---------------------------------- - -`osi_sensorview.proto`_ ---------------------------------- - - -.. _osi_version.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_version.proto.in -.. _osi_common.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_common.proto -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto -.. _osi_detectedlane.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_detectedlane.proto -.. _osi_detectedobject.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_detectedobject.proto -.. _osi_detectedoccupant.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_detectedoccupant.proto -.. _osi_detectedroadmarking.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_detectedroadmarking.proto -.. _osi_detectedtrafficlight.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_detectedtrafficlight.proto - -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto -.. _osi_datarecording.proto: https://github.com/OpenSimulationInterface/open-simulation-interface/blob/master/osi_datarecording.proto diff --git a/doc/reference.rst b/doc/reference.rst deleted file mode 100644 index 97da88908..000000000 --- a/doc/reference.rst +++ /dev/null @@ -1,26 +0,0 @@ -.. OSI Reference -.. =============== - -.. .. WARNING:: - -.. Currently this reference is work in progress to port the doxygen documentation completely to the sphinx documentation. For the official reference see the current `OSI reference documentation <https://opensimulationinterface.github.io/open-simulation-interface/annotated.html>`_. - -.. Base Moving -.. ----------------------- - -.. .. doxygenstruct:: osi3::BaseMoving -.. :project: open-simulation-interface -.. :members: - -.. Detected Traffic Light -.. ----------------------- - -.. .. doxygenstruct:: osi3::DetectedTrafficLight -.. :project: open-simulation-interface -.. :members: - -.. General -.. -------- - -.. .. doxygenindex:: -.. :project: open-simulation-interface \ No newline at end of file diff --git a/doc/releases/compatibility.adoc b/doc/releases/compatibility.adoc new file mode 100644 index 000000000..c81058eb7 --- /dev/null +++ b/doc/releases/compatibility.adoc @@ -0,0 +1,11 @@ += Compatibility + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. +Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/releases/releases.adoc b/doc/releases/releases.adoc new file mode 100644 index 000000000..3985840ee --- /dev/null +++ b/doc/releases/releases.adoc @@ -0,0 +1,11 @@ += Releases + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. +Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/releases/versioning.adoc b/doc/releases/versioning.adoc new file mode 100644 index 000000000..b45d386c6 --- /dev/null +++ b/doc/releases/versioning.adoc @@ -0,0 +1,11 @@ += Versioning + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. +Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/setup/including_osi_dev_projects.adoc b/doc/setup/including_osi_dev_projects.adoc new file mode 100644 index 000000000..551972c37 --- /dev/null +++ b/doc/setup/including_osi_dev_projects.adoc @@ -0,0 +1,10 @@ += Including OSI in development projects + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/setup/installing_linux.adoc b/doc/setup/installing_linux.adoc new file mode 100644 index 000000000..dafb8c50a --- /dev/null +++ b/doc/setup/installing_linux.adoc @@ -0,0 +1,11 @@ += Installing OSI on Linux + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. +Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/setup/installing_macos.adoc b/doc/setup/installing_macos.adoc new file mode 100644 index 000000000..84e70b499 --- /dev/null +++ b/doc/setup/installing_macos.adoc @@ -0,0 +1,10 @@ += Installing OSI on MacOS + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/setup/installing_windows.adoc b/doc/setup/installing_windows.adoc new file mode 100644 index 000000000..156c4984c --- /dev/null +++ b/doc/setup/installing_windows.adoc @@ -0,0 +1,10 @@ += Installing OSI on Windows + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/setup/using_osi_support_tools.adoc b/doc/setup/using_osi_support_tools.adoc new file mode 100644 index 000000000..9f598ee25 --- /dev/null +++ b/doc/setup/using_osi_support_tools.adoc @@ -0,0 +1,9 @@ += Using OSI supporting tools + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/usecases/benchmark_integration_gpu_radar.adoc b/doc/usecases/benchmark_integration_gpu_radar.adoc new file mode 100644 index 000000000..6b460386f --- /dev/null +++ b/doc/usecases/benchmark_integration_gpu_radar.adoc @@ -0,0 +1,12 @@ += Benchmarking and integration: OSI-GPU-radar + +TODO: Clarify content of this use case and make title more clear + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/usecases/fusing_sensor_outputs.adoc b/doc/usecases/fusing_sensor_outputs.adoc new file mode 100644 index 000000000..e88e63d69 --- /dev/null +++ b/doc/usecases/fusing_sensor_outputs.adoc @@ -0,0 +1,10 @@ += Fusing sensor outputs + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/usecases/generating_osi_traces.adoc b/doc/usecases/generating_osi_traces.adoc new file mode 100644 index 000000000..768094df0 --- /dev/null +++ b/doc/usecases/generating_osi_traces.adoc @@ -0,0 +1,9 @@ += Generating OSI traces + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/usecases/injecting_faults.adoc b/doc/usecases/injecting_faults.adoc new file mode 100644 index 000000000..2a3696151 --- /dev/null +++ b/doc/usecases/injecting_faults.adoc @@ -0,0 +1,10 @@ += Injecting faults + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/usecases/modeling_camera_electronics.adoc b/doc/usecases/modeling_camera_electronics.adoc new file mode 100644 index 000000000..c74269338 --- /dev/null +++ b/doc/usecases/modeling_camera_electronics.adoc @@ -0,0 +1,10 @@ += Modeling camera electronics + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/usecases/modeling_lidar_sensor.adoc b/doc/usecases/modeling_lidar_sensor.adoc new file mode 100644 index 000000000..55e41fac5 --- /dev/null +++ b/doc/usecases/modeling_lidar_sensor.adoc @@ -0,0 +1,10 @@ += Modeling a LIDAR sensor + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/usecases/modeling_traffic_participant.adoc b/doc/usecases/modeling_traffic_participant.adoc new file mode 100644 index 000000000..c987101b8 --- /dev/null +++ b/doc/usecases/modeling_traffic_participant.adoc @@ -0,0 +1,10 @@ += Modeling a traffic participant + +Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. +Et malesuada fames ac turpis egestas. +Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. +Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. +Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. +Amet commodo nulla facilisi nullam vehicula ipsum a. +Nibh nisl condimentum id venenatis a. +Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/versioning.rst b/doc/versioning.rst deleted file mode 100644 index 87bec6068..000000000 --- a/doc/versioning.rst +++ /dev/null @@ -1,27 +0,0 @@ -.. _versioning: - -Versioning -============= - -The version number is defined in ``InterfaceVersion::version_number`` in ``osi_common.proto`` as the field's default value. - -`Link to Semantic Versioning <https://semver.org/>`_ - -**Major**: A change of the major version results in an incompatibility of code and recorded proto messages. - -- An existing field with a number changes its meaning ``optional double field = 1;`` -> ``repeated double field = 1;`` Changing the definition of units or interpretation of a field -- Deleting a field and reusing the field number -- Changing the technology ProtoBuffer -> FlatBuffer - -**Minor**: A change of the minor version indicates remaining compatibility to previously recorded files. The code on the other hand needs fixing. - -- Renaming of a field without changing the field number -- Changing the names of messages -- Adding a new field in a message without changing the numbering of other fields - -**Patch**: The compatibility of both recorded files and code remains. - -- File or folder structure which does not affect including the code in other projects -- Changing or adding comments -- Clarification of text passages explaining the message content - diff --git a/doc/windows.rst b/doc/windows.rst deleted file mode 100644 index 960769d1d..000000000 --- a/doc/windows.rst +++ /dev/null @@ -1,63 +0,0 @@ -Windows -======= -C++ ------- -All the following steps are to be executed with admin rights: - -1. Install cmake (v3.7 or higher required): - -- Go to the `cmake download page <https://cmake.org/download/>`_ -- Download and install `cmake 3.8.0 <https://cmake.org/files/v3.8/cmake-3.8.0-rc2-win64-x64.msi>`_ - -2. Install Protobuf (v2.6.1 or higher required): - -- Go to the `ProtoBuffer Download Page <https://github.com/protocolbuffers/protobuf/releases/tag/v2.6.1>`_ -- Download and unzip `protobuf-2.6.1.zip <https://github.com/google/protobuf/releases/download/v2.6.1/protobuf-2.6.1.zip>`_ -- Open the ``protobuf.sln`` file in the unzipped ``protobuf-2.6.1\vsprojects`` with Visual Studio -- Build ``libprotobuf``, ``libprotobuf-lite`` , ``libprotoc and protoc`` -- Set the environmental variables: - - - ``PATH += path-to-the-directory-containing-the-just-created-protoc.exe-file`` - - ``PROTOBUF = path-to-the-unzipped-protobuf-2.6.1-directory`` - - ``PROTOBUF_SRC_ROOT_FOLDER = %PROTOBUF%`` - - ``CMAKE_INCLUDE_PATH = path-to-the-directory-protobuf-2.6.1\src-containing-the-folder-google`` - - ``CMAKE_LIBRARY_PATH = path-to-the-directory-containing-the-three-created-library-files`` - -3. Now you are ready to build and install OSI (v2.1.1 or higher required): - -- Clone `open simulation interface <https://github.com/OpenSimulationInterface/open-simulation-interface>`_ from GitHub and navigate to this directory using a terminal. -- Create a new directory ``build`` and navigate into it using the following command:`` mkdir build & cd build`` -- Generate a Visual Studio solution file suitable for your version and set the ``CMAKE_INSTALL_PREFIX`` to a directory where the OSI library and headers should be installed. - - - When no generator is mentioned: cmake would opt for the newest version of Visual Studio available. To see all supported generators please run: ``cmake -–help``. - - To build a 64-bit OSI library, please add to the generator name the desired target platform Win64. In this case please make sure that the ``protoc.exe`` executable and protobuf libraries are also 64-bit and set the environmental variables to the appropriate paths. - - When ``CMAKE_INSTALL_PREFIX`` is not set: cmake would opt for the configured default install directory. - -.. code-block:: shell - - cmake .. [-G <generator>] [-DCMAKE_INSTALL_PREFIX=<osi-install-directory>] - -Example using Visual Studio 12 2013 and C:/Libraries/open_simulation_interface as an install directory: - -.. code-block:: shell - - cmake .. -G "Visual Studio 12 2013" -DCMAKE_INSTALL_PREFIX=C:/Libraries/open_simulation_interface - -Now you can build and install OSI using the following commands: - -.. code-block:: shell - - cmake --build . [--config Release] - cmake --build . --target install - -As an alternative way you can use Visual Studio to build and install OSI. -P.S.: If you build in a Release configuration, please make sure that the protobuf libraries and executable are also compiled with release settings. - -Python ------------ - -1. Go to the python download page and download the executable installer. -2. Run the installer (with admin rights). -3. In the first step of the installer check ‘Add Python 3.6 to PATH’, then finish installation. -4. Clone open simulation interface from GitHub and navigate to this directory using a terminal. -5. Run the following command: python setup.py install From 0edbd111998727464e3b835a146c892995ff351c Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Mon, 10 May 2021 07:31:06 +0200 Subject: [PATCH 005/219] Describe installation under Linux and Windows (#518) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/setup/installing_linux.adoc | 11 ----- doc/setup/installing_linux_cpp.adoc | 61 ++++++++++++++++++++++++ doc/setup/installing_linux_python.adoc | 43 +++++++++++++++++ doc/setup/installing_windows.adoc | 10 ---- doc/setup/installing_windows_cpp.adoc | 54 +++++++++++++++++++++ doc/setup/installing_windows_python.adoc | 30 ++++++++++++ 6 files changed, 188 insertions(+), 21 deletions(-) delete mode 100644 doc/setup/installing_linux.adoc create mode 100644 doc/setup/installing_linux_cpp.adoc create mode 100644 doc/setup/installing_linux_python.adoc delete mode 100644 doc/setup/installing_windows.adoc create mode 100644 doc/setup/installing_windows_cpp.adoc create mode 100644 doc/setup/installing_windows_python.adoc diff --git a/doc/setup/installing_linux.adoc b/doc/setup/installing_linux.adoc deleted file mode 100644 index dafb8c50a..000000000 --- a/doc/setup/installing_linux.adoc +++ /dev/null @@ -1,11 +0,0 @@ -= Installing OSI on Linux - -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. -Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/setup/installing_linux_cpp.adoc b/doc/setup/installing_linux_cpp.adoc new file mode 100644 index 000000000..590d1667d --- /dev/null +++ b/doc/setup/installing_linux_cpp.adoc @@ -0,0 +1,61 @@ += Installing OSI for C++ on Linux + +**Prerequisites** + +* You have _cmake_ installed. +* You have installed _protobuf_. +* You must have super user privileges. + +**Steps** + +. Open a terminal. +. Clone the Open Simulation repository. ++ +[source] +---- +git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git +---- ++ +. Change into the repository directory. ++ +[source] +---- +cd open-simulation-interface +---- ++ +. Create a new directory for the build. ++ +[source] +---- +mkdir build +---- ++ +. Change into the new directory. ++ +[source] +---- +cd build +---- ++ +. Run cmake. + To build a 32-bit target under 64-bit linux, add `-DCMAKE_CXX_FLAGS="-m32"` to the cmake command. + In this case, protobuf must be in 32-bit mode too. ++ +[source] +---- +cmake .. +---- ++ +. Run make. ++ +[source] +---- +make +---- ++ +. Install Open Simulation Interface. ++ +[source] +---- +sudo make install +---- diff --git a/doc/setup/installing_linux_python.adoc b/doc/setup/installing_linux_python.adoc new file mode 100644 index 000000000..8b753aba8 --- /dev/null +++ b/doc/setup/installing_linux_python.adoc @@ -0,0 +1,43 @@ += Installing OSI for Python on Linux + +**Prerequisites** + +* You have installed _pip3_. +* You have installed _python-setuptools_. +* You have installed _protobuf_. +* For local installation, you have installed _virtualenv_. + +**Steps** + +. Open a terminal. +. Clone the Open Simulation repository. ++ +[source] +---- +git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git +---- ++ +. Change into the repository directory. ++ +[source] +---- +cd open-simulation-interface +---- ++ +. Create a new virtual environment. ++ +[source] +---- +virtualenv -p python3 venv +---- ++ +. Activate the virtual environment. ++ +[source] +---- +source venv/bin/activate +---- ++ +. Install Open Simulation Interface. +Local installation:: `pip3 install .` +Global installation:: `sudo pip3 install .` diff --git a/doc/setup/installing_windows.adoc b/doc/setup/installing_windows.adoc deleted file mode 100644 index 156c4984c..000000000 --- a/doc/setup/installing_windows.adoc +++ /dev/null @@ -1,10 +0,0 @@ -= Installing OSI on Windows - -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/setup/installing_windows_cpp.adoc b/doc/setup/installing_windows_cpp.adoc new file mode 100644 index 000000000..145c2be11 --- /dev/null +++ b/doc/setup/installing_windows_cpp.adoc @@ -0,0 +1,54 @@ += Installing OSI on Windows + +**Prerequisites** + +* You have installed _cmake_ as administrator. +* You have installed _protobuf_ as administrator. + +**Steps** + +. Open a terminal as administrator. +. Clone the Open Simulation repository. ++ +[source] +---- +git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git +---- ++ +. Change into the repository directory. ++ +[source] +---- +cd open-simulation-interface +---- ++ +. Create a new directory for the build. ++ +[source] +---- +mkdir build +---- ++ +. Change into the new directory. ++ +[source] +---- +cd build +---- ++ +. Run cmake. + To build a 64-bit target, add `Win64` to the generator name. + In this case, protobuf and protoc.exe must be in 64-bit mode too. ++ +[source] +---- +cmake .. [-G <generator>] [-DCMAKE_INSTALL_PREFIX=<osi-install-directory>] +---- ++ +. Build and install OSI. ++ +[source] +---- +cmake --build . [--config Release] +cmake --build . --target install +---- diff --git a/doc/setup/installing_windows_python.adoc b/doc/setup/installing_windows_python.adoc new file mode 100644 index 000000000..f1b0640e3 --- /dev/null +++ b/doc/setup/installing_windows_python.adoc @@ -0,0 +1,30 @@ += Installing OSI for Python on Windows + +**Prerequisites** + +* You have installed _Python_ with administrator rights. +* Make sure _Python_ is added to `PATH`. + +**Steps** + +. Open a terminal. +. Clone the Open Simulation repository. ++ +[source] +---- +git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git +---- ++ +. Change into the repository directory. ++ +[source] +---- +cd open-simulation-interface +---- ++ +. Run the setup script. ++ +[source] +---- +python setup.py install +---- From 7737b0d8c8d67825423d43d6713808df543e46ab Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Mon, 10 May 2021 09:16:51 +0200 Subject: [PATCH 006/219] feat(docs): Add topics to submap (#518) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/open-simulation-interface_user_guide.adoc | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 287f8cbdf..bbc1deae1 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -80,11 +80,15 @@ include::./architecture/formatting_scripts.adoc[leveloffset=+3] == Setting up OSI -include::./setup/installing_linux.adoc[leveloffset=+2] +include::./setup/installing_linux_cpp.adoc[leveloffset=+2] -include::./setup/installing_macos.adoc[leveloffset=+2] +include::./setup/installing_linux_python.adoc[leveloffset=+2] + +include::./setup/installing_windows_cpp.adoc[leveloffset=+2] -include::./setup/installing_windows.adoc[leveloffset=+2] +include::./setup/installing_windows_python.adoc[leveloffset=+2] + +include::./setup/installing_macos.adoc[leveloffset=+2] include::./setup/using_osi_support_tools.adoc[leveloffset=+2] From 3a7341116006fee7b8f9ed289e9e6840468cced1 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 15 Apr 2021 16:02:00 +0200 Subject: [PATCH 007/219] Add color orange as suggested in issue #504 - Harmonization of road mark colors with OpenDRIVE MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 4 ++++ osi_roadmarking.proto | 8 ++++++-- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index b9b1cce10..3fed17271 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -993,6 +993,10 @@ message LaneBoundary // Marking with violet color. // COLOR_VIOLET = 8; + + // Marking with orange color. + // + COLOR_ORANGE = 9; } } } diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index fd8cd0378..7afbf4f77 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -121,8 +121,8 @@ message RoadMarking // Boolean flag to indicate that the road marking is taken out of service. - // This can be achieved by visibly crossing the road marking with stripes, - // or completly covering a road marking making it not visible. + // This can be achieved by visibly crossing the road marking with stripes, + // or completly covering a road marking making it not visible. // // \image html OSI_RoadMaking_is_out_of_service.jpg width=800px // @@ -206,6 +206,10 @@ message RoadMarking // Marking with violet color. // COLOR_VIOLET = 8; + + // Marking with orange color. + // + COLOR_ORANGE = 9; } } } From 66cf331c898b67dbd4cb261fc2ffaf863c3d6829 Mon Sep 17 00:00:00 2001 From: Viktor Kreschenski <viktor.kreschenski@altran.com> Date: Wed, 17 Feb 2021 11:24:28 +0100 Subject: [PATCH 008/219] Added release notes for 3.3.0 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Viktor Kreschenski <viktor.kreschenski@altran.com> Signed-off-by: Habedank Clemens <qxs2704@europe.bmw.corp> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/releases/v03.03.rst | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/doc/releases/v03.03.rst b/doc/releases/v03.03.rst index 77c96f95f..0a0e081df 100644 --- a/doc/releases/v03.03.rst +++ b/doc/releases/v03.03.rst @@ -31,6 +31,7 @@ the introduction of brand new top level messages which extend OSI's scope beyond - Update the documentation of ground clearance. - Make handling of enums in rules check more robust, especially ones. +<<<<<<< HEAD - Set the default compiler to C++ 11 to support protobuf>3.6. `v3.3.1 - OSI "Fabulous Fangio", Update 1 <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.3.1>`_ @@ -40,3 +41,6 @@ the introduction of brand new top level messages which extend OSI's scope beyond --------------------------------------------------------------------------------------------------------------------------------------------- - **Bug Fix**: Fixed outdated version information in VERSION file in 3.3.0. This lead to wrong versioning in proto definitions and Doxygen documentation. - **Bug Fix**: Removed outdated picture in README.md. +======= +- Set the default compiler to C++ 11 to support protobuf>3.6. +>>>>>>> Added release notes for 3.3.0 From e1cb86a6fab259455bc02e085a2c5f6e9d1314fb Mon Sep 17 00:00:00 2001 From: Stefan Cyliax <stefan.cyliax@asam.net> Date: Mon, 26 Apr 2021 07:53:04 +0200 Subject: [PATCH 009/219] updated release notes for bugfix MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Habedank Clemens <qxs2704@europe.bmw.corp> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/releases/v03.03.rst | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/doc/releases/v03.03.rst b/doc/releases/v03.03.rst index 0a0e081df..fdbd2f6e6 100644 --- a/doc/releases/v03.03.rst +++ b/doc/releases/v03.03.rst @@ -32,6 +32,9 @@ the introduction of brand new top level messages which extend OSI's scope beyond - Make handling of enums in rules check more robust, especially ones. <<<<<<< HEAD +<<<<<<< HEAD +======= +>>>>>>> updated release notes for bugfix - Set the default compiler to C++ 11 to support protobuf>3.6. `v3.3.1 - OSI "Fabulous Fangio", Update 1 <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.3.1>`_ @@ -39,8 +42,12 @@ the introduction of brand new top level messages which extend OSI's scope beyond `Content/Changes <https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/18?closed=1>`_: --------------------------------------------------------------------------------------------------------------------------------------------- +<<<<<<< HEAD - **Bug Fix**: Fixed outdated version information in VERSION file in 3.3.0. This lead to wrong versioning in proto definitions and Doxygen documentation. - **Bug Fix**: Removed outdated picture in README.md. ======= - Set the default compiler to C++ 11 to support protobuf>3.6. >>>>>>> Added release notes for 3.3.0 +======= +- **Bug Fix**: Versioning in VERSION file wrong in 3.3.0. This lead to wrong versioning in Doxygen documentation. +>>>>>>> updated release notes for bugfix From a0d0b6dd7d1298dc4df716203a7670df1515b6d6 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Wed, 28 Apr 2021 12:38:19 +0200 Subject: [PATCH 010/219] Remove obsolete image and update release notes MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Habedank Clemens <qxs2704@europe.bmw.corp> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/releases/v03.03.rst | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/doc/releases/v03.03.rst b/doc/releases/v03.03.rst index fdbd2f6e6..f82d39811 100644 --- a/doc/releases/v03.03.rst +++ b/doc/releases/v03.03.rst @@ -43,6 +43,7 @@ the introduction of brand new top level messages which extend OSI's scope beyond `Content/Changes <https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/18?closed=1>`_: --------------------------------------------------------------------------------------------------------------------------------------------- <<<<<<< HEAD +<<<<<<< HEAD - **Bug Fix**: Fixed outdated version information in VERSION file in 3.3.0. This lead to wrong versioning in proto definitions and Doxygen documentation. - **Bug Fix**: Removed outdated picture in README.md. ======= @@ -51,3 +52,7 @@ the introduction of brand new top level messages which extend OSI's scope beyond ======= - **Bug Fix**: Versioning in VERSION file wrong in 3.3.0. This lead to wrong versioning in Doxygen documentation. >>>>>>> updated release notes for bugfix +======= +- **Bug Fix**: Fixed outdated version information in VERSION file in 3.3.0. This lead to wrong versioning in proto definitions and Doxygen documentation. +- **Bug Fix**: Removed outdated picture in README.md. +>>>>>>> Remove obsolete image and update release notes From 61fcd4da2f53f3f78569321458127341d52fe31e Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Thu, 14 Jan 2021 13:06:28 +0100 Subject: [PATCH 011/219] Initial GitHub Actions CPP ProtoBuf Build MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Habedank Clemens <qxs2704@europe.bmw.corp> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .github/workflows/protobuf.yml | 36 ++++++++++++++++++++++++++++++++++ 1 file changed, 36 insertions(+) diff --git a/.github/workflows/protobuf.yml b/.github/workflows/protobuf.yml index 11b52d5ff..340dad2c7 100644 --- a/.github/workflows/protobuf.yml +++ b/.github/workflows/protobuf.yml @@ -6,8 +6,13 @@ on: branches: [ master ] jobs: +<<<<<<< HEAD build-proto2-linux64: name: Build Proto2 Linux 64 +======= + build-cpp-linux64: + name: Build C++ Linux 64 +>>>>>>> Initial GitHub Actions CPP ProtoBuf Build runs-on: ubuntu-18.04 @@ -17,6 +22,7 @@ jobs: with: submodules: true +<<<<<<< HEAD - name: Setup Python uses: actions/setup-python@v2 with: @@ -111,15 +117,22 @@ jobs: - name: Install Python Dependencies run: python -m pip install --upgrade pip setuptools wheel pyyaml +======= +>>>>>>> Initial GitHub Actions CPP ProtoBuf Build - name: Cache Dependencies id: cache-depends uses: actions/cache@v2 with: +<<<<<<< HEAD path: protobuf-3.15.8 +======= + path: protobuf-3.11.3 +>>>>>>> Initial GitHub Actions CPP ProtoBuf Build key: ${{ runner.os }}-v1-depends - name: Download ProtoBuf if: steps.cache-depends.outputs.cache-hit != 'true' +<<<<<<< HEAD run: curl -OL https://github.com/protocolbuffers/protobuf/releases/download/v3.15.8/protobuf-all-3.15.8.tar.gz && tar xzvf protobuf-all-3.15.8.tar.gz - name: Build ProtoBuf @@ -155,3 +168,26 @@ jobs: - name: Run Python Tests run: python -m unittest discover tests +======= + run: curl -OL https://github.com/protocolbuffers/protobuf/releases/download/v3.11.3/protobuf-all-3.11.3.tar.gz && tar xzvf protobuf-all-3.11.3.tar.gz + + - name: Build ProtoBuf + if: steps.cache-depends.outputs.cache-hit != 'true' + working-directory: protobuf-3.11.3 + run: ./configure DIST_LANG=cpp --prefix=/usr && make + + - name: Install ProtoBuf + working-directory: protobuf-3.11.3 + run: sudo make install && sudo ldconfig + + - name: Prepare Build + run: mkdir build + + - name: Configure Build + working-directory: build + run: cmake .. + + - name: Build + working-directory: build + run: cmake --build . --config Release -j 4 +>>>>>>> Initial GitHub Actions CPP ProtoBuf Build From 37e75c0cbe8ab190a118a36d41d1d1ab88b3520b Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Thu, 14 Jan 2021 17:57:15 +0100 Subject: [PATCH 012/219] Add Python ProtoBuf build MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Habedank Clemens <qxs2704@europe.bmw.corp> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .github/workflows/protobuf.yml | 30 +++++++++++++++++++++++++++--- 1 file changed, 27 insertions(+), 3 deletions(-) diff --git a/.github/workflows/protobuf.yml b/.github/workflows/protobuf.yml index 340dad2c7..83a53b364 100644 --- a/.github/workflows/protobuf.yml +++ b/.github/workflows/protobuf.yml @@ -6,6 +6,7 @@ on: branches: [ master ] jobs: +<<<<<<< HEAD <<<<<<< HEAD build-proto2-linux64: name: Build Proto2 Linux 64 @@ -13,6 +14,10 @@ jobs: build-cpp-linux64: name: Build C++ Linux 64 >>>>>>> Initial GitHub Actions CPP ProtoBuf Build +======= + build-proto2-linux64: + name: Build Proto2 Linux 64 +>>>>>>> Add Python ProtoBuf build runs-on: ubuntu-18.04 @@ -23,6 +28,9 @@ jobs: submodules: true <<<<<<< HEAD +<<<<<<< HEAD +======= +>>>>>>> Add Python ProtoBuf build - name: Setup Python uses: actions/setup-python@v2 with: @@ -31,9 +39,12 @@ jobs: - name: Install Python Dependencies run: python -m pip install --upgrade pip setuptools wheel pyyaml +<<<<<<< HEAD - name: Install Doxygen run: sudo apt-get install doxygen graphviz +======= +>>>>>>> Add Python ProtoBuf build - name: Cache Dependencies id: cache-depends uses: actions/cache@v2 @@ -180,14 +191,27 @@ jobs: working-directory: protobuf-3.11.3 run: sudo make install && sudo ldconfig - - name: Prepare Build + - name: Prepare C++ Build run: mkdir build - - name: Configure Build + - name: Configure C++ Build working-directory: build run: cmake .. - - name: Build + - name: Build C++ working-directory: build run: cmake --build . --config Release -j 4 +<<<<<<< HEAD >>>>>>> Initial GitHub Actions CPP ProtoBuf Build +======= + + - name: Build Python + run: python setup.py build && python setup.py sdist + + - name: Install Python + run: python -m pip install . + + - name: Run Python Tests + run: python -m unittest discover tests + +>>>>>>> Add Python ProtoBuf build From f304937abb6feede84bd8bc44bb8199425c2b287 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 11 Feb 2021 15:33:29 +0100 Subject: [PATCH 013/219] add attribute country, country_revision, code and sub_code to traffic sign classification (mainSign and supplementarySign MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 55 ++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 52 insertions(+), 3 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 3c9ac589b..9a3202c6f 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -283,9 +283,23 @@ message TrafficSign optional bool vertically_mirrored = 6; // Boolean flag to indicate that a traffic sign is taken out of service. - // This can be achieved by visibly crossing the sign or covering it completely. + // This can be achieved by visibly crossing the sign or covering it completely. // - optional bool is_out_of_service = 7; + optional bool is_out_of_service = 7; + + // Specifies the country + optional Country country = 8; + + // The year the traffic rules come into force + optional string country_revision = 9; + + // Code identifier according to country code + // + optional string code = 10; + + // Subcode identifier according to country code + // + optional string sub_code = 11; // Definition of traffic sign types. // Numbers are given according to German StVO. @@ -5534,10 +5548,24 @@ message TrafficSign repeated Arrow arrow = 6; // Boolean flag to indicate that the supplementary traffic sign is taken out of service. - // This can be achieved by visibly crossing the sign or covering it completely. + // This can be achieved by visibly crossing the sign or covering it completely. // optional bool is_out_of_service = 7; + // Specifies the country + optional Country country = 8; + + // The year the traffic rules come into force + optional string countryevision = 9; + + // Code identifier according to country code + // + optional string code = 10; + + // Subcode identifier according to country code + // + optional string sub_code = 11; + // Definition of supplementary sign types. // // For general supplementary signs use \c #TYPE_TEXT. @@ -9399,4 +9427,25 @@ message TrafficSign // VARIABILITY_VARIABLE = 3; } + + + // Definition of country. + enum Country + { + // Country is unknown + // + COUNTRY_UNKNOWN = 0; + + // Country is Germany + // + GERMANY = 1; + + // Country is USA + // + USA = 2; + + // Country is Japan + // + JAPAN = 3; + } } From 8c45caee46644ca64648e7ab64d65fed4a4766fb Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 18 Feb 2021 11:18:17 +0100 Subject: [PATCH 014/219] Use string for country type. For country specification see ISO 3166-1, alpha-2 codes. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 33 +++++++-------------------------- 1 file changed, 7 insertions(+), 26 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 9a3202c6f..ac402c9ad 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -287,8 +287,9 @@ message TrafficSign // optional bool is_out_of_service = 7; - // Specifies the country - optional Country country = 8; + // Specifies the country. See ISO 3166-1, alpha-2 codes + // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2 + optional string country = 8; // The year the traffic rules come into force optional string country_revision = 9; @@ -5552,11 +5553,12 @@ message TrafficSign // optional bool is_out_of_service = 7; - // Specifies the country - optional Country country = 8; + // Specifies the country. See ISO 3166-1, alpha-2 codes + // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2 + optional string country = 8; // The year the traffic rules come into force - optional string countryevision = 9; + optional string country_revision = 9; // Code identifier according to country code // @@ -9427,25 +9429,4 @@ message TrafficSign // VARIABILITY_VARIABLE = 3; } - - - // Definition of country. - enum Country - { - // Country is unknown - // - COUNTRY_UNKNOWN = 0; - - // Country is Germany - // - GERMANY = 1; - - // Country is USA - // - USA = 2; - - // Country is Japan - // - JAPAN = 3; - } } From c04587a87ccc05e204d60b461d3724167d10dd7e Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 18 Feb 2021 11:33:41 +0100 Subject: [PATCH 015/219] mark possible deprecated messages MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 2 ++ 1 file changed, 2 insertions(+) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index ac402c9ad..ea7e212fe 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -280,6 +280,8 @@ message TrafficSign // As for every boolean in the protocol buffers language, the // default value of \c #vertically_mirrored is \c false. // + // May be deprecated in the future. + // Discussions will continue in OSI Harmonization OpenX group. optional bool vertically_mirrored = 6; // Boolean flag to indicate that a traffic sign is taken out of service. From 06f54654925c7a4cd9dc43b24434373fea7620c9 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 18 Feb 2021 11:34:42 +0100 Subject: [PATCH 016/219] mark possible deprecated messages MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 23 +++++++++++++++++++++-- 1 file changed, 21 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index ea7e212fe..01c193e72 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -225,6 +225,8 @@ message TrafficSign // The type of the traffic sign. // + // May be deprecated or changed in the future. + // Discussions will continue in Harmonization OpenX group. optional Type type = 2; // Additional value associated with the traffic sign, e.g. value of @@ -256,6 +258,8 @@ message TrafficSign // might have been intentionally unmounted and, hence, not be in // effect. // + // May be deprecated or changed in the future. + // Discussions will continue in Harmonization OpenX group. optional DirectionScope direction_scope = 4; // The IDs of the lanes that the sign is assigned to. @@ -280,8 +284,8 @@ message TrafficSign // As for every boolean in the protocol buffers language, the // default value of \c #vertically_mirrored is \c false. // - // May be deprecated in the future. - // Discussions will continue in OSI Harmonization OpenX group. + // May be deprecated or changed in the future. + // Discussions will continue in Harmonization OpenX group. optional bool vertically_mirrored = 6; // Boolean flag to indicate that a traffic sign is taken out of service. @@ -323,6 +327,8 @@ message TrafficSign // https://www.gesetze-im-internet.de/stvo_2013/anlage_4.html // (Verkehrseinrichtungen) \arg https://traffic-rules.com/ // + // May be deprecated or changed in the future. + // Discussions will continue in Harmonization OpenX group. enum Type { // Type of traffic sign is unknown (must not be used in ground @@ -5515,6 +5521,8 @@ message TrafficSign // Type of the supplementary sign. // + // May be deprecated or changed in the future. + // Discussions will continue in Harmonization OpenX group. optional Type type = 2; // Additional value(s) associated with the traffic sign, e.g. @@ -5544,10 +5552,14 @@ message TrafficSign // bikes, cars, trucks and so on), that the supplementary sign // makes reference to. // + // May be deprecated or changed in the future. + // Discussions will continue in Harmonization OpenX group. repeated Actor actor = 5; // A direction arrow shown on the supplementary sign. // + // May be deprecated or changed in the future. + // Discussions will continue in Harmonization OpenX group. repeated Arrow arrow = 6; // Boolean flag to indicate that the supplementary traffic sign is taken out of service. @@ -5583,6 +5595,9 @@ message TrafficSign // text, \c Type is used in descending order in the following // sequence: \c #TYPE_EXCEPT, \c #TYPE_CONSTRAINED_TO, \c // #TYPE_ARROW, \c #TYPE_TIME, \c #TYPE_SPACE, \c #TYPE_TEXT. + // + // May be deprecated or changed in the future. + // Discussions will continue in Harmonization OpenX group. enum Type { // Type of supplementary sign is unknown (must not be used in @@ -8998,6 +9013,8 @@ message TrafficSign // Definition of the traffic actors the supplementary sign makes // reference to. E.g. bikes, trucks, cars, etc. // + // May be deprecated or changed in the future. + // Discussions will continue in Harmonization OpenX group. enum Actor { // An unknown actor @@ -9223,6 +9240,8 @@ message TrafficSign // The direction to which the arrow points to // + // May be deprecated or changed in the future. + // Discussions will continue in Harmonization OpenX group. enum Direction { // Direction of sign is unknown (must not be used in ground From 968f976f4bb2eb9bb22ff2157648a7cf292797cb Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:29:17 +0200 Subject: [PATCH 017/219] Modified comment to mark as deprecated in a uniform way - enum actor MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 01c193e72..4e033589e 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -9013,8 +9013,10 @@ message TrafficSign // Definition of the traffic actors the supplementary sign makes // reference to. E.g. bikes, trucks, cars, etc. // - // May be deprecated or changed in the future. - // Discussions will continue in Harmonization OpenX group. + // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum + // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> + // How the enum Actor will be dealt in future will be discussed in Harmonization OpenX group.<br> + // Deprecated planned for version 4.0.0 enum Actor { // An unknown actor From c187f0dcd53114d303e91d7c92022f81f7840249 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:30:51 +0200 Subject: [PATCH 018/219] Modified comment to mark as deprecated in a uniform way - enum Direction MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 4e033589e..576da1a29 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -9242,8 +9242,10 @@ message TrafficSign // The direction to which the arrow points to // - // May be deprecated or changed in the future. - // Discussions will continue in Harmonization OpenX group. + // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum + // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> + // How the enum Direction will be dealt in future will be discussed in Harmonization OpenX group.<br> + // Deprecated planned for version 4.0.0 enum Direction { // Direction of sign is unknown (must not be used in ground From 6796cbf55ece4b01130c3cca6416fcc98fd28ca3 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:31:59 +0200 Subject: [PATCH 019/219] Modified comment to mark as deprecated in a uniform way - type MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 576da1a29..a367d81ce 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -225,8 +225,10 @@ message TrafficSign // The type of the traffic sign. // - // May be deprecated or changed in the future. - // Discussions will continue in Harmonization OpenX group. + // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum + // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> + // How the type will be dealt in future will be discussed in Harmonization OpenX group.<br> + // Deprecated planned for version 4.0.0 optional Type type = 2; // Additional value associated with the traffic sign, e.g. value of From 497b4384b54bfa32dc246ed7941475a1ae157a12 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:32:50 +0200 Subject: [PATCH 020/219] Modified comment to mark as deprecated in a uniform way - DirectionScope MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index a367d81ce..01c9271db 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -260,8 +260,10 @@ message TrafficSign // might have been intentionally unmounted and, hence, not be in // effect. // - // May be deprecated or changed in the future. - // Discussions will continue in Harmonization OpenX group. + // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum + // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> + // How the DirectionScope will be dealt in future will be discussed in Harmonization OpenX group.<br> + // Deprecated planned for version 4.0.0 optional DirectionScope direction_scope = 4; // The IDs of the lanes that the sign is assigned to. From 3a3a4e85064b276104effd040d50ea5642620680 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:34:05 +0200 Subject: [PATCH 021/219] Modified comment to mark as deprecated in a uniform way - vertically_mirrored MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 01c9271db..de150e988 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -288,8 +288,10 @@ message TrafficSign // As for every boolean in the protocol buffers language, the // default value of \c #vertically_mirrored is \c false. // - // May be deprecated or changed in the future. - // Discussions will continue in Harmonization OpenX group. + // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum + // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> + // How the enum Actor will be dealt in future will be discussed in Harmonization OpenX group.<br> + // Deprecated planned for version 4.0.0 optional bool vertically_mirrored = 6; // Boolean flag to indicate that a traffic sign is taken out of service. From ae5dab9d8fa054259911fd57112dbf6b107b3e14 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:34:50 +0200 Subject: [PATCH 022/219] Modified comment to mark as deprecated in a uniform way - Type MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index de150e988..d70f5828a 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -333,8 +333,10 @@ message TrafficSign // https://www.gesetze-im-internet.de/stvo_2013/anlage_4.html // (Verkehrseinrichtungen) \arg https://traffic-rules.com/ // - // May be deprecated or changed in the future. - // Discussions will continue in Harmonization OpenX group. + // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum + // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> + // How the Type will be dealt in future will be discussed in Harmonization OpenX group.<br> + // Deprecated planned for version 4.0.0 enum Type { // Type of traffic sign is unknown (must not be used in ground From da96fc78ddb125588bb6a139e1d0d7fe04303c35 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:35:31 +0200 Subject: [PATCH 023/219] Modified comment to mark as deprecated in a uniform way - Type type MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index d70f5828a..65f1b9d89 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -5529,8 +5529,10 @@ message TrafficSign // Type of the supplementary sign. // - // May be deprecated or changed in the future. - // Discussions will continue in Harmonization OpenX group. + // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum + // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> + // How the Type type will be dealt in future will be discussed in Harmonization OpenX group.<br> + // Deprecated planned for version 4.0.0 optional Type type = 2; // Additional value(s) associated with the traffic sign, e.g. From 7c10aade7daa8d3494cc71ee710f680bf7b15d76 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:36:39 +0200 Subject: [PATCH 024/219] Modified comment to mark as deprecated in a uniform way - Actor actor MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 65f1b9d89..5c060de3a 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -5562,8 +5562,10 @@ message TrafficSign // bikes, cars, trucks and so on), that the supplementary sign // makes reference to. // - // May be deprecated or changed in the future. - // Discussions will continue in Harmonization OpenX group. + // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum + // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> + // How the actor will be dealt in future will be discussed in Harmonization OpenX group.<br> + // Deprecated planned for version 4.0.0 repeated Actor actor = 5; // A direction arrow shown on the supplementary sign. From 86dbd3b41cb36692924ff1b343ea2a126ebc2d96 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:37:17 +0200 Subject: [PATCH 025/219] Modified comment to mark as deprecated in a uniform way - Arrow arrow MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 5c060de3a..2def6deab 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -5570,8 +5570,10 @@ message TrafficSign // A direction arrow shown on the supplementary sign. // - // May be deprecated or changed in the future. - // Discussions will continue in Harmonization OpenX group. + // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum + // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> + // How the arrow will be dealt in future will be discussed in Harmonization OpenX group.<br> + // Deprecated planned for version 4.0.0 repeated Arrow arrow = 6; // Boolean flag to indicate that the supplementary traffic sign is taken out of service. From 9c3fc884936f66c2c431a499a3e8e22d6e0ac273 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:37:46 +0200 Subject: [PATCH 026/219] Modified comment to mark as deprecated in a uniform way - Type MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 2def6deab..60a968b43 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -5610,8 +5610,10 @@ message TrafficSign // sequence: \c #TYPE_EXCEPT, \c #TYPE_CONSTRAINED_TO, \c // #TYPE_ARROW, \c #TYPE_TIME, \c #TYPE_SPACE, \c #TYPE_TEXT. // - // May be deprecated or changed in the future. - // Discussions will continue in Harmonization OpenX group. + // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum + // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> + // How the enum Type will be dealt in future will be discussed in Harmonization OpenX group.<br> + // Deprecated planned for version 4.0.0 enum Type { // Type of supplementary sign is unknown (must not be used in From 7d391412eae98fccabc362e2d621dddc1457a793 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:41:25 +0200 Subject: [PATCH 027/219] Modified comment to mark as deprecated in a uniform way MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 60a968b43..4e828b718 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -227,7 +227,7 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the type will be dealt in future will be discussed in Harmonization OpenX group.<br> + // How the Type type will be dealt in future will be discussed in Harmonization OpenX group.<br> // Deprecated planned for version 4.0.0 optional Type type = 2; @@ -262,7 +262,7 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the DirectionScope will be dealt in future will be discussed in Harmonization OpenX group.<br> + // How the DirectionScope direction_scope will be dealt in future will be discussed in Harmonization OpenX group.<br> // Deprecated planned for version 4.0.0 optional DirectionScope direction_scope = 4; @@ -290,7 +290,7 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the enum Actor will be dealt in future will be discussed in Harmonization OpenX group.<br> + // How the bool vertically_mirrored will be dealt in future will be discussed in Harmonization OpenX group.<br> // Deprecated planned for version 4.0.0 optional bool vertically_mirrored = 6; @@ -5564,7 +5564,7 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the actor will be dealt in future will be discussed in Harmonization OpenX group.<br> + // How the Actor actor will be dealt in future will be discussed in Harmonization OpenX group.<br> // Deprecated planned for version 4.0.0 repeated Actor actor = 5; @@ -5572,7 +5572,7 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the arrow will be dealt in future will be discussed in Harmonization OpenX group.<br> + // How the Arrow arrow will be dealt in future will be discussed in Harmonization OpenX group.<br> // Deprecated planned for version 4.0.0 repeated Arrow arrow = 6; From 3a2529d749aed89d5a30cc7cc8c0fa7e43fcd723 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Thu, 22 Apr 2021 15:53:18 +0200 Subject: [PATCH 028/219] add examples for country and country_revision in comment MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 2 ++ 1 file changed, 2 insertions(+) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 4e828b718..69fc1e709 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -301,9 +301,11 @@ message TrafficSign // Specifies the country. See ISO 3166-1, alpha-2 codes // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2 + // e.g. "Germany", "France", "Austria" optional string country = 8; // The year the traffic rules come into force + // e.g. "2017" optional string country_revision = 9; // Code identifier according to country code From a4951674f253dfb7bcc63720f7eec1ba87e39ce9 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Mon, 10 May 2021 13:37:45 +0200 Subject: [PATCH 029/219] correct example for ISO 3166-1 alpha-2 code MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 69fc1e709..04b29a170 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -301,11 +301,13 @@ message TrafficSign // Specifies the country. See ISO 3166-1, alpha-2 codes // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2 - // e.g. "Germany", "France", "Austria" + // e.g. "DE", "FR", "AT + //" optional string country = 8; // The year the traffic rules come into force // e.g. "2017" + // optional string country_revision = 9; // Code identifier according to country code From 9274d228ac9341f82170b3e95d51e711a7aeabb5 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Mon, 10 May 2021 14:37:06 +0200 Subject: [PATCH 030/219] better comments to clarify use of code and sub_code MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficsign.proto | 32 ++++++++++++++++++++++---------- 1 file changed, 22 insertions(+), 10 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 04b29a170..3c9831908 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -300,21 +300,25 @@ message TrafficSign optional bool is_out_of_service = 7; // Specifies the country. See ISO 3166-1, alpha-2 codes - // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2 - // e.g. "DE", "FR", "AT - //" + // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2. <br> + // e.g. "DE", "FR", "AT" + // optional string country = 8; - // The year the traffic rules come into force + // The year the traffic rules come into force. <br> // e.g. "2017" // optional string country_revision = 9; - // Code identifier according to country code + // Code identifier according to country code. <br> + // code is only unique in combination with #country and #country_revision. <br> + // e.g. http://www.vzkat.de/2017/VzKat.htm // optional string code = 10; - // Subcode identifier according to country code + // Subcode identifier according to country code. <br> + // sub_code is only unique in combination with #country and #country_revision. <br> + // e.g. http://www.vzkat.de/2017/VzKat.htm // optional string sub_code = 11; @@ -5586,17 +5590,25 @@ message TrafficSign optional bool is_out_of_service = 7; // Specifies the country. See ISO 3166-1, alpha-2 codes - // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2 + // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2. <br> + // e.g. "DE", "FR", "AT" + // optional string country = 8; - // The year the traffic rules come into force + // The year the traffic rules come into force. <br> + // e.g. "2017" + // optional string country_revision = 9; - // Code identifier according to country code + // Code identifier according to country code. <br> + // code is only unique in combination with #country and #country_revision. <br> + // e.g. http://www.vzkat.de/2017/VzKat.htm // optional string code = 10; - // Subcode identifier according to country code + // Subcode identifier according to country code. <br> + // sub_code is only unique in combination with #country and #country_revision. <br> + // e.g. http://www.vzkat.de/2017/VzKat.htm // optional string sub_code = 11; From cbe8db4f186990b1a0feb7f692a11bbf7da929b6 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Sun, 16 May 2021 13:14:39 +0200 Subject: [PATCH 031/219] mark Type as deprecated MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_roadmarking.proto | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index 7afbf4f77..b06a82fdc 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -130,6 +130,11 @@ message RoadMarking // Definition of road marking types. // + // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum + // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> + // How the Type will be dealt in future will be discussed in Harmonization OpenX group.<br> + // Deprecated planned for version 4.0.0 + // enum Type { // Type of road marking is unknown (must not be used in ground From ef9eb25e2053be245221a60d66bdeaf42573f5b8 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Sun, 16 May 2021 13:17:56 +0200 Subject: [PATCH 032/219] add attribute country, country_revision, code and sub_code to roadmarking MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_roadmarking.proto | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index b06a82fdc..a0158c0fc 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -128,6 +128,29 @@ message RoadMarking // optional bool is_out_of_service = 7; + // Specifies the country. See ISO 3166-1, alpha-2 codes + // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2. <br> + // e.g. "DE", "FR", "AT" + // + optional string country = 8; + + // The year the traffic rules come into force. <br> + // e.g. "2017" + // + optional string country_revision = 9; + + // Code identifier according to country code. <br> + // code is only unique in combination with #country and #country_revision. <br> + // e.g. http://www.vzkat.de/2017/VzKat.htm + // + optional string code = 10; + + // Subcode identifier according to country code. <br> + // sub_code is only unique in combination with #country and #country_revision. <br> + // e.g. http://www.vzkat.de/2017/VzKat.htm + // + optional string sub_code = 11; + // Definition of road marking types. // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum From fa65516d251784928aa84c819b83496d98e6a3ca Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Fri, 28 May 2021 14:36:28 +0100 Subject: [PATCH 033/219] Add a type field for custom traffic actions MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficcommand.proto | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/osi_trafficcommand.proto b/osi_trafficcommand.proto index da0b6c9dd..a6843811e 100644 --- a/osi_trafficcommand.proto +++ b/osi_trafficcommand.proto @@ -490,6 +490,10 @@ message TrafficAction // The custom command given to the traffic participant. // optional string command = 2; + + // The type of the custom command given to the traffic participant. + // + optional string type = 3; } // \brief Longitudinal Distance Action From 4daa5cce626bbcae73354b1e21d058283c3985b9 Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Fri, 28 May 2021 14:40:16 +0100 Subject: [PATCH 034/219] Use a more specific field name MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficcommand.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_trafficcommand.proto b/osi_trafficcommand.proto index a6843811e..6a2457618 100644 --- a/osi_trafficcommand.proto +++ b/osi_trafficcommand.proto @@ -493,7 +493,7 @@ message TrafficAction // The type of the custom command given to the traffic participant. // - optional string type = 3; + optional string command_type = 3; } // \brief Longitudinal Distance Action From defb09415a6c8e6b5362cdcf53233e5c8e502877 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Tue, 8 Jun 2021 10:31:32 +0200 Subject: [PATCH 035/219] fix(docs): Fix header (#518) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/setup/installing_windows_cpp.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/setup/installing_windows_cpp.adoc b/doc/setup/installing_windows_cpp.adoc index 145c2be11..93ad4c9d3 100644 --- a/doc/setup/installing_windows_cpp.adoc +++ b/doc/setup/installing_windows_cpp.adoc @@ -1,4 +1,4 @@ -= Installing OSI on Windows += Installing OSI for C++ on Windows **Prerequisites** From c7d7c98846ae5d0a1c834fadf5c1c9eed54b51ab Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Wed, 9 Jun 2021 11:13:16 +0100 Subject: [PATCH 036/219] Add more detail to documentation MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficcommand.proto | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/osi_trafficcommand.proto b/osi_trafficcommand.proto index 6a2457618..1d5b762c1 100644 --- a/osi_trafficcommand.proto +++ b/osi_trafficcommand.proto @@ -487,11 +487,19 @@ message TrafficAction // optional ActionHeader action_header = 1; - // The custom command given to the traffic participant. + // The custom command given to the traffic participant. Used to convey a specific instruction + // (for example "exit_highway"), or event (for example "left_indicator_activated"). + // + // \note This corresponds to the content of the OpenSCENARIO 1.0 CustomCommandAction field. // optional string command = 2; - // The type of the custom command given to the traffic participant. + // The type of the custom command given to the traffic participant. Can be used to simplify + // how commands are grouped, for example the command_type could be "sensor_failure" and the + // command value (above) could be "front_right_camera". This prevents needing long commands + // (like "sensor_failure: front_right_camera"). + // + // \note This corresponds to the "type" attribute of the OpenSCENARIO 1.0 CustomCommandAction. // optional string command_type = 3; } From 753ce64e3c986731612f1dce1f88e8bca2b325a1 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 18 Jun 2021 16:13:24 +0200 Subject: [PATCH 037/219] feat(docs): Comment out includes irrelevant to v3.4 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/open-simulation-interface_user_guide.adoc | 30 +++++++++---------- 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index bbc1deae1..417c77ab6 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -58,11 +58,11 @@ include::./architecture/coordinate_systems.adoc[leveloffset=+3] include::./architecture/reference_points.adoc[leveloffset=+3] -=== Layering +//=== Layering -include::./architecture/data_layer.adoc[leveloffset=+3] +//include::./architecture/data_layer.adoc[leveloffset=+3] -include::./architecture/packaging_layer.adoc[leveloffset=+3] +//include::./architecture/packaging_layer.adoc[leveloffset=+3] === OSI trace files @@ -90,29 +90,29 @@ include::./setup/installing_windows_python.adoc[leveloffset=+2] include::./setup/installing_macos.adoc[leveloffset=+2] -include::./setup/using_osi_support_tools.adoc[leveloffset=+2] +//include::./setup/using_osi_support_tools.adoc[leveloffset=+2] -include::./setup/including_osi_dev_projects.adoc[leveloffset=+2] +//include::./setup/including_osi_dev_projects.adoc[leveloffset=+2] -== Example use cases for OSI +//== Example use cases for OSI -include::./usecases/modeling_lidar_sensor.adoc[leveloffset=+2] +//include::./usecases/modeling_lidar_sensor.adoc[leveloffset=+2] -include::./usecases/modeling_camera_electronics.adoc[leveloffset=+2] +//include::./usecases/modeling_camera_electronics.adoc[leveloffset=+2] -include::./usecases/injecting_faults.adoc[leveloffset=+2] +//include::./usecases/injecting_faults.adoc[leveloffset=+2] -include::./usecases/fusing_sensor_outputs.adoc[leveloffset=+2] +//include::./usecases/fusing_sensor_outputs.adoc[leveloffset=+2] -include::./usecases/modeling_traffic_participant.adoc[leveloffset=+2] +//include::./usecases/modeling_traffic_participant.adoc[leveloffset=+2] -include::./usecases/benchmark_integration_gpu_radar.adoc[leveloffset=+2] +//include::./usecases/benchmark_integration_gpu_radar.adoc[leveloffset=+2] -include::./usecases/generating_osi_traces.adoc[leveloffset=+2] +//include::./usecases/generating_osi_traces.adoc[leveloffset=+2] -== Improving performance +//== Improving performance -TODO: Define topics and issues regarding performance. +//TODO: Define topics and issues regarding performance. include::./misc/osi_reference.adoc[leveloffset=+1] From 5b7e01241b55ad8a1fc9a2129ec92708b3f64d9b Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 18 Jun 2021 17:09:37 +0200 Subject: [PATCH 038/219] feat(docs): Comment out includes irrelevant to v3.4 MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/open-simulation-interface_user_guide.adoc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 417c77ab6..5e500623d 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -70,11 +70,11 @@ include::./architecture/trace_file_formats.adoc[leveloffset=+3] include::./architecture/trace_file_naming.adoc[leveloffset=+3] -=== Files and scripts +// === Files and scripts -include::./architecture/proto-files.adoc[leveloffset=+3] +// include::./architecture/proto-files.adoc[leveloffset=+3] -include::./architecture/test_scripts.adoc[leveloffset=+3] +// include::./architecture/test_scripts.adoc[leveloffset=+3] include::./architecture/formatting_scripts.adoc[leveloffset=+3] From 539493acb0bf43194cbd99ee791191a990e9e606 Mon Sep 17 00:00:00 2001 From: Georg Seifert <Georg.Seifert@carissma.eu> Date: Mon, 25 Jan 2021 16:45:36 +0100 Subject: [PATCH 039/219] Extension of an additional Identifier for external references MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Georg Seifert <Georg.Seifert@carissma.eu> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 25 +++++++++++++++++++++++++ 1 file changed, 25 insertions(+) diff --git a/osi_common.proto b/osi_common.proto index e91e473e3..2c443b74b 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -215,6 +215,31 @@ message Identifier optional uint64 value = 1; } +// \brief References to external objects +// +// The external reference is used to identify objects defined in non-OSI +// descriptions. This could be other OpenX-Standards as well as user defined +// simulation environments. +// +message ExternalReference +{ + // The external identifier reference value. + // + // For a common description of the external identifier, where a wide range + // of identification types could be represented, the repeded string is chosen. + // + // E.g. referencing a unique lane in OpenDRIVE + // (RoadId --> String, S-Value of LaneSection --> Double, LaneId --> Int) + // + repeated string value = 1; + + // The source of the references + // + // Can be used to describe the original source, e.g. OpenDRIVE 1.6 + // + optional string source_reference = 2; +} + // // \brief Specifies the mounting position of a sensor. // From 6390896f5eeedfb423e6c711c1f9b4fb924d85f2 Mon Sep 17 00:00:00 2001 From: Georg Seifert <georg.seifert@carissma.eu> Date: Tue, 23 Mar 2021 08:19:43 +0100 Subject: [PATCH 040/219] Update the ExternalReference message by adding the possibility to define a URI to the origin source. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Georg Seifert <georg.seifert@carissma.eu> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 22 +++++++++++++++------- 1 file changed, 15 insertions(+), 7 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index 2c443b74b..9f688466e 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -223,6 +223,20 @@ message Identifier // message ExternalReference { + // The source of the external references + // + // Defines the original source of an object as an URI. + // The URI should be follow the syntax according to + // \link https://tools.ietf.org/html/rfc3986 RFC 3986\endlink. + // + optional string reference = 1; + + // The type of the external references + // + // Can be used to describe the original source, e.g. OpenDRIVE 1.6 + // + optional string type = 2; + // The external identifier reference value. // // For a common description of the external identifier, where a wide range @@ -231,13 +245,7 @@ message ExternalReference // E.g. referencing a unique lane in OpenDRIVE // (RoadId --> String, S-Value of LaneSection --> Double, LaneId --> Int) // - repeated string value = 1; - - // The source of the references - // - // Can be used to describe the original source, e.g. OpenDRIVE 1.6 - // - optional string source_reference = 2; + repeated string identifier = 3; } // From f299be827231c46d3f1c3386e9e4eba53f27efd5 Mon Sep 17 00:00:00 2001 From: Georg Seifert <georg.seifert@carissma.eu> Date: Tue, 23 Mar 2021 09:52:48 +0100 Subject: [PATCH 041/219] First usage of ExternalReference in Lane, StationaryObject and MovingObject MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Georg Seifert <georg.seifert@carissma.eu> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 26 ++++++++++++++++++++++ osi_object.proto | 56 ++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 82 insertions(+) diff --git a/osi_lane.proto b/osi_lane.proto index 3fed17271..b73607ac2 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -50,6 +50,32 @@ message Lane // optional Classification classification = 2; + // External Reference to the Lane Source + // + // The ExternalReference point to the source of the lane, if it is derived + // from one or more objects or external references. An exaple here is the + // reference to the lane defined in a OpenDRIVE map. + // + // For OpenDRIVE 1.6 the items should be set as following: + // * reference = URI to map, can remain empty if identical with definiton + // in \c GroundTruth::map_reference + // * type = "OpenDRIVE 1.6" + // * identifier[0] = id of t_road + // * identifier[1] = s of t_road_lanes_laneSection + // * identifier[2] = id of t_road_lanes_laneSection_left_lane, + // t_road_lanes_laneSection_right_lane or + // t_road_lanes_laneSection_center_lane + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \note The value has to be repeated, as it cannot guarantee, that one + // Lane-Segment is derived from only one origin segment. It is also + // possible, that multiple sources (map, sensor) should be added as + // reference. + // + repeated ExternalReference source_reference = 3; + // // \brief \c Classification of a lane. // diff --git a/osi_object.proto b/osi_object.proto index b44066f0f..6a408f7ec 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -40,6 +40,39 @@ message StationaryObject // optional string model_reference = 4; + // External Reference to the StationaryObject Source + // + // The ExternalReference point to the source of an stationary object, if it + // is derived from an external sources like OpenDRIVE or OpenSCENARIO. + // + // For OpenDRIVE 1.6 the objects should be set as following: + // * reference = URI to map, can remain empty if identical with definiton + // in \c GroundTruth::map_reference + // * type = "OpenDRIVE 1.6" + // * identifier[0] = "object" for t_road_objects_object and + // "bridge" for t_road_objects_bridge + // * identifier[1] = id of t_road_objects_object or t_road_objects_bridge + // + // For OpenSCENARIO 1.0 the entities of the type MiscObject, which describes + // partly stationary objecs should be set as following: + // * reference = URI to the OpenSCENARIO File + // * type = "OpenSCENARIO 1.0" + // * identifier[0] = Entity-Type ("MiscObject") + // * identifier[1] = name of MiscObject in Entity + // + // \note The following rule, described in OpenDRIVE, should also apply here: + // * Objects derived from OpenSCENARIO shall not be mixed with objects + // described in OpenDRIVE. + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \note The value has to be repeated, as it cannot guarantee, that one + // object is derived from only one origin source, like from one + // scernario file and and from the sensors. + // + repeated ExternalReference source_reference = 5; + // // \brief Classification data for a stationary object. // @@ -359,6 +392,29 @@ message MovingObject // optional MovingObjectClassification moving_object_classification = 9; + // External Reference to the MovingObject Source + // + // The ExternalReference point to the source of an moving object, if it + // is derived from an external sources like OpenSCENARIO. + // + // For OpenSCENARIO 1.0 the entities of the type Vehicle or Pedestrian, + // which describes moving objecs should be set as following: + // * reference = URI to the OpenSCENARIO File + // * type = "OpenSCENARIO 1.0" + // * identifier[0] = Entity-Type ("Vehicle" or "Pedestrian") + // * identifier[1] = name of Vehicle/Pedestrian in Entity + // + // \todo OpenSCENARIO 1.0 currently does not provide an animal type. + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \note The value has to be repeated, as it cannot guarantee, that one + // object is derived from only one origin source, like from one map + // and from the sensors. + // + repeated ExternalReference source_reference = 10; + // Definition of object types. // enum Type From ae6986bbff9b0fdc2d14d8772021117a399cdb1d Mon Sep 17 00:00:00 2001 From: Georg Seifert <georg.seifert@carissma.eu> Date: Thu, 25 Mar 2021 13:10:01 +0100 Subject: [PATCH 042/219] Remove t_road_lanes_laneSection_center_lane from the Lane::ExternalReference Example, as the center lane is not driving lane MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Georg Seifert <georg.seifert@carissma.eu> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index b73607ac2..84e288dc5 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -63,8 +63,7 @@ message Lane // * identifier[0] = id of t_road // * identifier[1] = s of t_road_lanes_laneSection // * identifier[2] = id of t_road_lanes_laneSection_left_lane, - // t_road_lanes_laneSection_right_lane or - // t_road_lanes_laneSection_center_lane + // t_road_lanes_laneSection_right_lane // // \note For non-ASAM Standards, it is implementation-specific how // source_reference is resolved. From 274c9597faa487ad9cfe73aa2de5bcdd27b4b7db Mon Sep 17 00:00:00 2001 From: Georg Seifert <georg.seifert@carissma.eu> Date: Thu, 22 Apr 2021 08:41:29 +0200 Subject: [PATCH 043/219] External References added to TrafficSign, TrafficLight and Road Marking MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Georg Seifert <georg.seifert@carissma.eu> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_roadmarking.proto | 29 +++++++++++++++++++++++++++++ osi_trafficlight.proto | 22 ++++++++++++++++++++++ osi_trafficsign.proto | 27 +++++++++++++++++++++++++++ 3 files changed, 78 insertions(+) diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index a0158c0fc..70897b6a7 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -55,6 +55,35 @@ message RoadMarking // optional Classification classification = 3; + // External Reference to the Roadmarking Source + // + // The ExternalReference point to the source of the surface marking, if it + // is derived from one or more objects or external references. An example + // here is the reference to the signal defined in a OpenDRIVE map. + // + // For OpenDRIVE 1.6 the items should be set as following: + // * reference = URI to map, can remain empty if identical with definiton + // in \c GroundTruth::map_reference + // * type = "OpenDRIVE 1.6" + // * identifier[0] = id of t_road_signals_signal + // + // \note In OpenDRIVE 1.6 there is also the possibility to define surface + // markings as an object. In this case, the associated object is + // usually referenced within OpenDRIVE using the reference + // t_road_signals_signal_reference, which allows it to be + // identifiable. + // An additional reference to the object is therefore not necessary. + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \note The value has to be repeated, as it cannot guarantee, that one + // Lane-Segment is derived from only one origin segment. It is also + // possible, that multiple sources (map, sensor) should be added as + // reference. + // + repeated ExternalReference source_reference = 4; + // // \brief \c Classification data for a road surface marking. // diff --git a/osi_trafficlight.proto b/osi_trafficlight.proto index 0aef80e7c..e411ee648 100644 --- a/osi_trafficlight.proto +++ b/osi_trafficlight.proto @@ -42,6 +42,28 @@ message TrafficLight // optional string model_reference = 4; + // External Reference to the Traffic Light Source + // + // The ExternalReference point to the source of the traffic light, if it is + // derived from one or more objects or external references. An example here + // is the reference to the signal defined in a OpenDRIVE map. + // + // For OpenDRIVE 1.6 the items should be set as following: + // * reference = URI to map, can remain empty if identical with definiton + // in \c GroundTruth::map_reference + // * type = "OpenDRIVE 1.6" + // * identifier[0] = id of t_road_signals_signal + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \note The value has to be repeated, as it cannot guarantee, that one + // Lane-Segment is derived from only one origin segment. It is also + // possible, that multiple sources (map, sensor) should be added as + // reference. + // + repeated ExternalReference source_reference = 5; + // // \brief \c Classification data for a traffic light. // diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 3c9831908..2746f95eb 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -156,6 +156,33 @@ message TrafficSign // repeated SupplementarySign supplementary_sign = 3; + + // External Reference to the Traffic Sign Source + // + // The ExternalReference point to the source of the traffic sign, if it is + // derived from one or more objects or external references. An example here + // is the reference to the signal defined in a OpenDRIVE map. + // + // For OpenDRIVE 1.6 the items should be set as following: + // * reference = URI to map, can remain empty if identical with definiton + // in \c GroundTruth::map_reference + // * type = "OpenDRIVE 1.6" + // * identifier[0] = id of t_road_signals_signal + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \note If an individual identification of MainSign and SupplementarySign + // is be necessary, this sould be defined via multiple individual + // entries of this source_reference. + // + // \note The value has to be repeated, as it cannot guarantee, that one + // Lane-Segment is derived from only one origin segment. It is also + // possible, that multiple sources (map, sensor) should be added as + // reference. + // + repeated ExternalReference source_reference = 4; + // // \brief Main sign of the traffic sign. // From 00f09d8e387bd19a4290d9841add5a2c9c07312d Mon Sep 17 00:00:00 2001 From: Georg Seifert <georg.seifert@carissma.eu> Date: Thu, 22 Apr 2021 10:37:57 +0200 Subject: [PATCH 044/219] Add external reference to EnvironmentalConditions, Occupant, LaneBoundary. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Georg Seifert <georg.seifert@carissma.eu> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_environment.proto | 13 +++++++++++++ osi_lane.proto | 16 +++++++++++++++- osi_occupant.proto | 13 +++++++++++++ 3 files changed, 41 insertions(+), 1 deletion(-) diff --git a/osi_environment.proto b/osi_environment.proto index be5d830a8..dd43ca969 100644 --- a/osi_environment.proto +++ b/osi_environment.proto @@ -85,6 +85,19 @@ message EnvironmentalConditions // Description of the fog. // optional Fog fog = 7; + + // External Reference to the Environmental Condition Sources + // + // \note For OpenDRIVE and OpenSECNARIO there is no no direct counterpart. + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \note The value has to be repeated, as it cannot guarantee, that one + // object is derived from only one origin source, like from one + // scernario file and and from the sensors. + // + repeated ExternalReference source_reference = 8; // Definition of discretized precipitation states according to [1]. // (I = Intensity of precipitation in mm per hour mm/h) diff --git a/osi_lane.proto b/osi_lane.proto index 84e288dc5..d100d6c09 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -53,7 +53,7 @@ message Lane // External Reference to the Lane Source // // The ExternalReference point to the source of the lane, if it is derived - // from one or more objects or external references. An exaple here is the + // from one or more objects or external references. An example here is the // reference to the lane defined in a OpenDRIVE map. // // For OpenDRIVE 1.6 the items should be set as following: @@ -749,6 +749,20 @@ message LaneBoundary // The classification of the lane boundary. // optional Classification classification = 3; + + // External Reference to the Lane Boundary Source + // + // \note For OpenDRIVE 1.6 there is no direct possibility to reference the + // RoadMark, as there is no unique identifier in this sub-object. + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \note The value has to be repeated, as it cannot guarantee, that one + // object is derived from only one origin source, like from one + // scernario file and and from the sensors. + // + repeated ExternalReference source_reference = 3; // // \brief A single point of a lane boundary. diff --git a/osi_occupant.proto b/osi_occupant.proto index 131e109fa..61d5abace 100644 --- a/osi_occupant.proto +++ b/osi_occupant.proto @@ -23,6 +23,19 @@ message Occupant // optional Classification classification = 2; + // External Reference to the Occupant Source + // + // \note For OpenDRIVE and OpenSECNARIO there is no no direct counterpart. + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \note The value has to be repeated, as it cannot guarantee, that one + // object is derived from only one origin source, like from one + // scernario file and and from the sensors. + // + repeated ExternalReference source_reference = 3; + // // \brief Information regarding the classification of the occupant. // From 57cb2294bc9b11f95ae7d08a4a1319eff6dac2da Mon Sep 17 00:00:00 2001 From: Georg Seifert <georg.seifert@carissma.eu> Date: Thu, 22 Apr 2021 14:05:10 +0200 Subject: [PATCH 045/219] Correct mismatch of protobuf continuous IDs and add osi_common to osi_environment MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Georg Seifert <georg.seifert@carissma.eu> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_environment.proto | 4 +++- osi_lane.proto | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_environment.proto b/osi_environment.proto index dd43ca969..1cca71716 100644 --- a/osi_environment.proto +++ b/osi_environment.proto @@ -2,6 +2,8 @@ syntax = "proto2"; option optimize_for = SPEED; +import "osi_common.proto"; + package osi3; // @@ -97,7 +99,7 @@ message EnvironmentalConditions // object is derived from only one origin source, like from one // scernario file and and from the sensors. // - repeated ExternalReference source_reference = 8; + repeated ExternalReference source_reference = 9; // Definition of discretized precipitation states according to [1]. // (I = Intensity of precipitation in mm per hour mm/h) diff --git a/osi_lane.proto b/osi_lane.proto index d100d6c09..bf5465bc7 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -762,7 +762,7 @@ message LaneBoundary // object is derived from only one origin source, like from one // scernario file and and from the sensors. // - repeated ExternalReference source_reference = 3; + repeated ExternalReference source_reference = 4; // // \brief A single point of a lane boundary. From 7713d7a6a1305866b9b15071da58a1ce82aca05d Mon Sep 17 00:00:00 2001 From: Georg Seifert <georg.seifert@carissma.eu> Date: Fri, 7 May 2021 09:02:34 +0200 Subject: [PATCH 046/219] Apply suggestions from code review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Georg Seifert <Georg.Seifert@carissma.eu> Co-authored-by: Kmeid <kmeid.saad@ansys.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 9 ++++----- osi_environment.proto | 4 ++-- osi_object.proto | 4 ++-- osi_occupant.proto | 2 +- 4 files changed, 9 insertions(+), 10 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index 9f688466e..9a4ef65fa 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -217,8 +217,8 @@ message Identifier // \brief References to external objects // -// The external reference is used to identify objects defined in non-OSI -// descriptions. This could be other OpenX-Standards as well as user defined +// The external reference is an optional recommendation to refer to objects defined outside of OSI. +// This could be other OpenX standards, 3rd-party standards or user-defined objects. // simulation environments. // message ExternalReference @@ -233,14 +233,14 @@ message ExternalReference // The type of the external references // - // Can be used to describe the original source, e.g. OpenDRIVE 1.6 + // Must be used to describe the type of the original source. // optional string type = 2; // The external identifier reference value. // // For a common description of the external identifier, where a wide range - // of identification types could be represented, the repeded string is chosen. + // of identification types could be represented, the repeated string is chosen. // // E.g. referencing a unique lane in OpenDRIVE // (RoadId --> String, S-Value of LaneSection --> Double, LaneId --> Int) @@ -550,4 +550,3 @@ message WavelengthData // optional double samples_number = 3; } - diff --git a/osi_environment.proto b/osi_environment.proto index 1cca71716..a9cf257fc 100644 --- a/osi_environment.proto +++ b/osi_environment.proto @@ -90,14 +90,14 @@ message EnvironmentalConditions // External Reference to the Environmental Condition Sources // - // \note For OpenDRIVE and OpenSECNARIO there is no no direct counterpart. + // \note For OpenDRIVE and OpenSECNARIO there is no direct counterpart. // // \note For non-ASAM Standards, it is implementation-specific how // source_reference is resolved. // // \note The value has to be repeated, as it cannot guarantee, that one // object is derived from only one origin source, like from one - // scernario file and and from the sensors. + // scernario file and from the sensors. // repeated ExternalReference source_reference = 9; diff --git a/osi_object.proto b/osi_object.proto index 6a408f7ec..a217ee29e 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -54,7 +54,7 @@ message StationaryObject // * identifier[1] = id of t_road_objects_object or t_road_objects_bridge // // For OpenSCENARIO 1.0 the entities of the type MiscObject, which describes - // partly stationary objecs should be set as following: + // partly stationary objects should be set as following: // * reference = URI to the OpenSCENARIO File // * type = "OpenSCENARIO 1.0" // * identifier[0] = Entity-Type ("MiscObject") @@ -69,7 +69,7 @@ message StationaryObject // // \note The value has to be repeated, as it cannot guarantee, that one // object is derived from only one origin source, like from one - // scernario file and and from the sensors. + // scenario file and and from the sensors. // repeated ExternalReference source_reference = 5; diff --git a/osi_occupant.proto b/osi_occupant.proto index 61d5abace..0c195dfdc 100644 --- a/osi_occupant.proto +++ b/osi_occupant.proto @@ -25,7 +25,7 @@ message Occupant // External Reference to the Occupant Source // - // \note For OpenDRIVE and OpenSECNARIO there is no no direct counterpart. + // \note For OpenDRIVE and OpenSCENARIO there is no no direct counterpart. // // \note For non-ASAM Standards, it is implementation-specific how // source_reference is resolved. From bcb45bb888ae8fc823b8d30841b8f2c738c9438b Mon Sep 17 00:00:00 2001 From: Georg Seifert <georg.seifert@carissma.eu> Date: Mon, 10 May 2021 07:29:39 +0200 Subject: [PATCH 047/219] Second part from code review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Georg Seifert <georg.seifert@carissma.eu> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 36 ++++++++++++++++++++++++++++++++++-- osi_environment.proto | 2 +- osi_lane.proto | 4 ++-- osi_object.proto | 2 +- osi_roadmarking.proto | 2 +- osi_trafficlight.proto | 2 +- osi_trafficsign.proto | 2 +- 7 files changed, 41 insertions(+), 9 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index 9a4ef65fa..9ad4b8f8d 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -221,20 +221,39 @@ message Identifier // This could be other OpenX standards, 3rd-party standards or user-defined objects. // simulation environments. // +// \note The ExternalReference is an optional value and can be left empty. +// message ExternalReference { // The source of the external references // - // Defines the original source of an object as an URI. - // The URI should be follow the syntax according to + // Defines the original source of an object as uniquely identifiable reference. + // In case of using \c GroundTruth::map_reference or + // \c GroundTruth::model_reference, the reference can be left empty. + // If not otherwise required, an URI is suggested and should follow the syntax according to // \link https://tools.ietf.org/html/rfc3986 RFC 3986\endlink. // + // optional string reference = 1; // The type of the external references // // Must be used to describe the type of the original source. // + // For OpenX/ASAM standards it is specified as follows, + // the PATCH-Value is optional: + // - OpenDRIVE 1.6 + // - OpenDRIVE 1.6.0 + // - OpenDRIVE 1.6.1 + // - OpenSCENARIO 1.0 + // - OpenSCENARIO 1.0.0 + // - OpenSCENARIO 1.1 + // - OpenSCENARIO 1.1.0 + // + // For third-party standards and user-defined objects the + // Reverse Domain Name Notation is suggested, to guarantee unique + // and interoperable identifications. + // optional string type = 2; // The external identifier reference value. @@ -245,6 +264,19 @@ message ExternalReference // E.g. referencing a unique lane in OpenDRIVE // (RoadId --> String, S-Value of LaneSection --> Double, LaneId --> Int) // + // \note The detailed description of the identifiers and how they are + // used for referencing external objects are given in the individual + // messages, where it is deployed. + // + // \see EnvironmentalConditions::source_reference + // \see Lane::source_reference + // \see LaneBoundary::source_reference + // \see StationaryObject::source_reference + // \see MovingObject::source_reference + // \see RoadMarking::source_reference + // \see TrafficLight::source_reference + // \see TrafficSign::source_reference + // repeated string identifier = 3; } diff --git a/osi_environment.proto b/osi_environment.proto index a9cf257fc..6d8beb772 100644 --- a/osi_environment.proto +++ b/osi_environment.proto @@ -88,7 +88,7 @@ message EnvironmentalConditions // optional Fog fog = 7; - // External Reference to the Environmental Condition Sources + // Optional external Reference to the Environmental Condition Sources // // \note For OpenDRIVE and OpenSECNARIO there is no direct counterpart. // diff --git a/osi_lane.proto b/osi_lane.proto index bf5465bc7..1e8d8d79c 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -50,7 +50,7 @@ message Lane // optional Classification classification = 2; - // External Reference to the Lane Source + // Optional external Reference to the Lane Source // // The ExternalReference point to the source of the lane, if it is derived // from one or more objects or external references. An example here is the @@ -750,7 +750,7 @@ message LaneBoundary // optional Classification classification = 3; - // External Reference to the Lane Boundary Source + // Optional external Reference to the Lane Boundary Source // // \note For OpenDRIVE 1.6 there is no direct possibility to reference the // RoadMark, as there is no unique identifier in this sub-object. diff --git a/osi_object.proto b/osi_object.proto index a217ee29e..04c469d32 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -392,7 +392,7 @@ message MovingObject // optional MovingObjectClassification moving_object_classification = 9; - // External Reference to the MovingObject Source + // Optional external Reference to the MovingObject Source // // The ExternalReference point to the source of an moving object, if it // is derived from an external sources like OpenSCENARIO. diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index 70897b6a7..a350e9b49 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -55,7 +55,7 @@ message RoadMarking // optional Classification classification = 3; - // External Reference to the Roadmarking Source + // Optional external Reference to the Roadmarking Source // // The ExternalReference point to the source of the surface marking, if it // is derived from one or more objects or external references. An example diff --git a/osi_trafficlight.proto b/osi_trafficlight.proto index e411ee648..5fa32a2cc 100644 --- a/osi_trafficlight.proto +++ b/osi_trafficlight.proto @@ -42,7 +42,7 @@ message TrafficLight // optional string model_reference = 4; - // External Reference to the Traffic Light Source + // Optional external Reference to the Traffic Light Source // // The ExternalReference point to the source of the traffic light, if it is // derived from one or more objects or external references. An example here diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 2746f95eb..377473163 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -157,7 +157,7 @@ message TrafficSign repeated SupplementarySign supplementary_sign = 3; - // External Reference to the Traffic Sign Source + // Optional external Reference to the Traffic Sign Source // // The ExternalReference point to the source of the traffic sign, if it is // derived from one or more objects or external references. An example here From 81e684d3a52c45204173b21e950deab9feab618c Mon Sep 17 00:00:00 2001 From: Georg Seifert <georg.seifert@carissma.eu> Date: Wed, 12 May 2021 11:42:53 +0200 Subject: [PATCH 048/219] Remove the version from the comment for OpenX description and use also rDNS. Point out to use lower case field. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Georg Seifert <georg.seifert@carissma.eu> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 16 +++++----------- 1 file changed, 5 insertions(+), 11 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index 9ad4b8f8d..08f384d84 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -240,19 +240,13 @@ message ExternalReference // // Must be used to describe the type of the original source. // - // For OpenX/ASAM standards it is specified as follows, - // the PATCH-Value is optional: - // - OpenDRIVE 1.6 - // - OpenDRIVE 1.6.0 - // - OpenDRIVE 1.6.1 - // - OpenSCENARIO 1.0 - // - OpenSCENARIO 1.0.0 - // - OpenSCENARIO 1.1 - // - OpenSCENARIO 1.1.0 + // For OpenX/ASAM standards it is specified as follows: + // - net.asam.opendrive + // - net.asam.openscenario // // For third-party standards and user-defined objects the - // Reverse Domain Name Notation is suggested, to guarantee unique - // and interoperable identifications. + // Reverse Domain Name Notation, with lower case type field, + // is suggested, to guarantee unique and interoperable identifications. // optional string type = 2; From 04832340d99ad7413dfa32c83ce315f1ae9d5cb4 Mon Sep 17 00:00:00 2001 From: Georg Seifert <georg.seifert@carissma.eu> Date: Mon, 17 May 2021 07:17:48 +0200 Subject: [PATCH 049/219] Update the OpenX-Examples to rDNS. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Georg Seifert <georg.seifert@carissma.eu> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 6 +++--- osi_object.proto | 14 +++++++------- osi_roadmarking.proto | 6 +++--- osi_trafficlight.proto | 4 ++-- osi_trafficsign.proto | 6 +++--- 5 files changed, 18 insertions(+), 18 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index 1e8d8d79c..0cbd38906 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -56,10 +56,10 @@ message Lane // from one or more objects or external references. An example here is the // reference to the lane defined in a OpenDRIVE map. // - // For OpenDRIVE 1.6 the items should be set as following: + // For OpenDRIVE the items should be set as following: // * reference = URI to map, can remain empty if identical with definiton // in \c GroundTruth::map_reference - // * type = "OpenDRIVE 1.6" + // * type = "net.asam.opendrive" // * identifier[0] = id of t_road // * identifier[1] = s of t_road_lanes_laneSection // * identifier[2] = id of t_road_lanes_laneSection_left_lane, @@ -752,7 +752,7 @@ message LaneBoundary // Optional external Reference to the Lane Boundary Source // - // \note For OpenDRIVE 1.6 there is no direct possibility to reference the + // \note For OpenDRIVE there is no direct possibility to reference the // RoadMark, as there is no unique identifier in this sub-object. // // \note For non-ASAM Standards, it is implementation-specific how diff --git a/osi_object.proto b/osi_object.proto index 04c469d32..05fb8a9c9 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -45,18 +45,18 @@ message StationaryObject // The ExternalReference point to the source of an stationary object, if it // is derived from an external sources like OpenDRIVE or OpenSCENARIO. // - // For OpenDRIVE 1.6 the objects should be set as following: + // For OpenDRIVE the objects should be set as following: // * reference = URI to map, can remain empty if identical with definiton // in \c GroundTruth::map_reference - // * type = "OpenDRIVE 1.6" + // * type = "net.asam.opendrive" // * identifier[0] = "object" for t_road_objects_object and // "bridge" for t_road_objects_bridge // * identifier[1] = id of t_road_objects_object or t_road_objects_bridge // - // For OpenSCENARIO 1.0 the entities of the type MiscObject, which describes + // For OpenSCENARIO the entities of the type MiscObject, which describes // partly stationary objects should be set as following: // * reference = URI to the OpenSCENARIO File - // * type = "OpenSCENARIO 1.0" + // * type = "net.asam.openscenario" // * identifier[0] = Entity-Type ("MiscObject") // * identifier[1] = name of MiscObject in Entity // @@ -397,14 +397,14 @@ message MovingObject // The ExternalReference point to the source of an moving object, if it // is derived from an external sources like OpenSCENARIO. // - // For OpenSCENARIO 1.0 the entities of the type Vehicle or Pedestrian, + // For OpenSCENARIO the entities of the type Vehicle or Pedestrian, // which describes moving objecs should be set as following: // * reference = URI to the OpenSCENARIO File - // * type = "OpenSCENARIO 1.0" + // * type = "net.asam.openscenario" // * identifier[0] = Entity-Type ("Vehicle" or "Pedestrian") // * identifier[1] = name of Vehicle/Pedestrian in Entity // - // \todo OpenSCENARIO 1.0 currently does not provide an animal type. + // \todo OpenSCENARIO currently does not provide an animal type. // // \note For non-ASAM Standards, it is implementation-specific how // source_reference is resolved. diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index a350e9b49..e403b99ea 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -61,13 +61,13 @@ message RoadMarking // is derived from one or more objects or external references. An example // here is the reference to the signal defined in a OpenDRIVE map. // - // For OpenDRIVE 1.6 the items should be set as following: + // For OpenDRIVE the items should be set as following: // * reference = URI to map, can remain empty if identical with definiton // in \c GroundTruth::map_reference - // * type = "OpenDRIVE 1.6" + // * type = "net.asam.opendrive" // * identifier[0] = id of t_road_signals_signal // - // \note In OpenDRIVE 1.6 there is also the possibility to define surface + // \note In OpenDRIVE there is also the possibility to define surface // markings as an object. In this case, the associated object is // usually referenced within OpenDRIVE using the reference // t_road_signals_signal_reference, which allows it to be diff --git a/osi_trafficlight.proto b/osi_trafficlight.proto index 5fa32a2cc..b3143ce9c 100644 --- a/osi_trafficlight.proto +++ b/osi_trafficlight.proto @@ -48,10 +48,10 @@ message TrafficLight // derived from one or more objects or external references. An example here // is the reference to the signal defined in a OpenDRIVE map. // - // For OpenDRIVE 1.6 the items should be set as following: + // For OpenDRIVE the items should be set as following: // * reference = URI to map, can remain empty if identical with definiton // in \c GroundTruth::map_reference - // * type = "OpenDRIVE 1.6" + // * type = "net.asam.opendrive" // * identifier[0] = id of t_road_signals_signal // // \note For non-ASAM Standards, it is implementation-specific how diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 377473163..165f98377 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -163,10 +163,10 @@ message TrafficSign // derived from one or more objects or external references. An example here // is the reference to the signal defined in a OpenDRIVE map. // - // For OpenDRIVE 1.6 the items should be set as following: - // * reference = URI to map, can remain empty if identical with definiton + // For OpenDRIVE the items should be set as following: + // * reference = URI to map, can remain empty if identical with definition // in \c GroundTruth::map_reference - // * type = "OpenDRIVE 1.6" + // * type = "net.asam.opendrive" // * identifier[0] = id of t_road_signals_signal // // \note For non-ASAM Standards, it is implementation-specific how From 8e54428a78a8bebaed8ea07c65d94bbb958d581b Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Tue, 18 May 2021 17:08:41 +0200 Subject: [PATCH 050/219] fix(docs): Doc review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 34 +++++++++++++++++++--------------- osi_environment.proto | 10 +++++----- osi_lane.proto | 27 +++++++++++++-------------- osi_object.proto | 32 ++++++++++++++++---------------- osi_occupant.proto | 10 +++++----- osi_roadmarking.proto | 19 ++++++++----------- osi_trafficlight.proto | 19 +++++++++---------- osi_trafficsign.proto | 19 +++++++++---------- 8 files changed, 84 insertions(+), 86 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index 08f384d84..a68188efd 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -215,52 +215,56 @@ message Identifier optional uint64 value = 1; } -// \brief References to external objects +// \brief References to external objects. // // The external reference is an optional recommendation to refer to objects defined outside of OSI. // This could be other OpenX standards, 3rd-party standards or user-defined objects. // simulation environments. // -// \note The ExternalReference is an optional value and can be left empty. +// \note ExternalReference is optional and can be left empty. // message ExternalReference { - // The source of the external references + // The source of the external references. // // Defines the original source of an object as uniquely identifiable reference. // In case of using \c GroundTruth::map_reference or // \c GroundTruth::model_reference, the reference can be left empty. - // If not otherwise required, an URI is suggested and should follow the syntax according to + // If not otherwise required, an URI is suggested. The syntax should follow // \link https://tools.ietf.org/html/rfc3986 RFC 3986\endlink. // // optional string reference = 1; - // The type of the external references + // The type of the external references. // - // Must be used to describe the type of the original source. + // Mandatory value describing the type of the original source. // // For OpenX/ASAM standards it is specified as follows: // - net.asam.opendrive // - net.asam.openscenario // - // For third-party standards and user-defined objects the - // Reverse Domain Name Notation, with lower case type field, - // is suggested, to guarantee unique and interoperable identifications. + // For third-party standards and user-defined objects, + // reverse domain name notation with lower-case type field + // is recommended to guarantee unique and interoperable identification. // optional string type = 2; // The external identifier reference value. // - // For a common description of the external identifier, where a wide range - // of identification types could be represented, the repeated string is chosen. + // The repeated string is chosen as a common description of the external + // identifier, because a variety of identificatier types could be + // involved . // - // E.g. referencing a unique lane in OpenDRIVE - // (RoadId --> String, S-Value of LaneSection --> Double, LaneId --> Int) + // For example, referencing a unique lane in OpenDRIVE requires the + // following identifiers: + // * RoadId: String + // * S-Value of LaneSection: Double + // * LaneId: Int // // \note The detailed description of the identifiers and how they are - // used for referencing external objects are given in the individual - // messages, where it is deployed. + // used for referencing external objects is given in the individual + // messages where the external identifier is used. // // \see EnvironmentalConditions::source_reference // \see Lane::source_reference diff --git a/osi_environment.proto b/osi_environment.proto index 6d8beb772..5aafe2cac 100644 --- a/osi_environment.proto +++ b/osi_environment.proto @@ -88,16 +88,16 @@ message EnvironmentalConditions // optional Fog fog = 7; - // Optional external Reference to the Environmental Condition Sources + // Optional external reference to the environmental condition sources. // // \note For OpenDRIVE and OpenSECNARIO there is no direct counterpart. // - // \note For non-ASAM Standards, it is implementation-specific how + // \note For non-ASAM standards, it is implementation-specific how // source_reference is resolved. // - // \note The value has to be repeated, as it cannot guarantee, that one - // object is derived from only one origin source, like from one - // scernario file and from the sensors. + // \note The value has to be repeated because one object may be derived + // from more than one origin source, for example, from a scenario file + // and from sensors. // repeated ExternalReference source_reference = 9; diff --git a/osi_lane.proto b/osi_lane.proto index 0cbd38906..ce63abd47 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -50,13 +50,13 @@ message Lane // optional Classification classification = 2; - // Optional external Reference to the Lane Source + // Optional external reference to the lane source. // - // The ExternalReference point to the source of the lane, if it is derived - // from one or more objects or external references. An example here is the - // reference to the lane defined in a OpenDRIVE map. + // The external reference points to the source of the lane, if it is derived + // from one or more objects or external references. // - // For OpenDRIVE the items should be set as following: + // For example, to reference a lane defined in an OpenDRIVE map + // the items should be set as following: // * reference = URI to map, can remain empty if identical with definiton // in \c GroundTruth::map_reference // * type = "net.asam.opendrive" @@ -68,10 +68,9 @@ message Lane // \note For non-ASAM Standards, it is implementation-specific how // source_reference is resolved. // - // \note The value has to be repeated, as it cannot guarantee, that one - // Lane-Segment is derived from only one origin segment. It is also - // possible, that multiple sources (map, sensor) should be added as - // reference. + // \note The value has to be repeated, because one lane segment may be + // derived from more than one origin segment. Multiple sources + // may be added as reference as well, for example, a map and sensors. // repeated ExternalReference source_reference = 3; @@ -750,17 +749,17 @@ message LaneBoundary // optional Classification classification = 3; - // Optional external Reference to the Lane Boundary Source + // Optional external reference to the lane boundary source. // - // \note For OpenDRIVE there is no direct possibility to reference the + // \note For OpenDRIVE, there is no direct possibility to reference the // RoadMark, as there is no unique identifier in this sub-object. // // \note For non-ASAM Standards, it is implementation-specific how // source_reference is resolved. // - // \note The value has to be repeated, as it cannot guarantee, that one - // object is derived from only one origin source, like from one - // scernario file and and from the sensors. + // \note The value has to be repeated because one object may be derived + // from more than one origin source, for example, from a scenario file + // and from sensors. // repeated ExternalReference source_reference = 4; diff --git a/osi_object.proto b/osi_object.proto index 05fb8a9c9..e4cab2af9 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -40,12 +40,12 @@ message StationaryObject // optional string model_reference = 4; - // External Reference to the StationaryObject Source + // External reference to the stationary-object source. // - // The ExternalReference point to the source of an stationary object, if it + // The external reference points to the source of a stationary object, if it // is derived from an external sources like OpenDRIVE or OpenSCENARIO. // - // For OpenDRIVE the objects should be set as following: + // For OpenDRIVE, references to objects should be set as following: // * reference = URI to map, can remain empty if identical with definiton // in \c GroundTruth::map_reference // * type = "net.asam.opendrive" @@ -53,23 +53,23 @@ message StationaryObject // "bridge" for t_road_objects_bridge // * identifier[1] = id of t_road_objects_object or t_road_objects_bridge // - // For OpenSCENARIO the entities of the type MiscObject, which describes - // partly stationary objects should be set as following: + // For OpenSCENARIO, references to entities of the type MiscObject, which + // describes partly stationary objects, should be set as following: // * reference = URI to the OpenSCENARIO File // * type = "net.asam.openscenario" // * identifier[0] = Entity-Type ("MiscObject") // * identifier[1] = name of MiscObject in Entity // - // \note The following rule, described in OpenDRIVE, should also apply here: + // \note The following rule, described in OpenDRIVE, also applies: // * Objects derived from OpenSCENARIO shall not be mixed with objects // described in OpenDRIVE. // // \note For non-ASAM Standards, it is implementation-specific how // source_reference is resolved. // - // \note The value has to be repeated, as it cannot guarantee, that one - // object is derived from only one origin source, like from one - // scenario file and and from the sensors. + // \note The value has to be repeated because one object may be derived + // from more than one origin source, for example, from a scenario file + // and from sensors. // repeated ExternalReference source_reference = 5; @@ -392,13 +392,13 @@ message MovingObject // optional MovingObjectClassification moving_object_classification = 9; - // Optional external Reference to the MovingObject Source + // Optional external reference to the moving-object source // - // The ExternalReference point to the source of an moving object, if it + // The external reference points to the source of an moving object, if it // is derived from an external sources like OpenSCENARIO. // - // For OpenSCENARIO the entities of the type Vehicle or Pedestrian, - // which describes moving objecs should be set as following: + // For OpenSCENARIO, references to entities of the type Vehicle or + // Pedestrian, which describe moving objects, should be set as following: // * reference = URI to the OpenSCENARIO File // * type = "net.asam.openscenario" // * identifier[0] = Entity-Type ("Vehicle" or "Pedestrian") @@ -409,9 +409,9 @@ message MovingObject // \note For non-ASAM Standards, it is implementation-specific how // source_reference is resolved. // - // \note The value has to be repeated, as it cannot guarantee, that one - // object is derived from only one origin source, like from one map - // and from the sensors. + // \note The value has to be repeated because one object may be derived + // from more than one origin source, for example, from a scenario file + // and from sensors. // repeated ExternalReference source_reference = 10; diff --git a/osi_occupant.proto b/osi_occupant.proto index 0c195dfdc..8b7f6ea83 100644 --- a/osi_occupant.proto +++ b/osi_occupant.proto @@ -23,16 +23,16 @@ message Occupant // optional Classification classification = 2; - // External Reference to the Occupant Source + // External reference to the occupant source. // - // \note For OpenDRIVE and OpenSCENARIO there is no no direct counterpart. + // \note For OpenDRIVE and OpenSCENARIO there is no direct counterpart. // // \note For non-ASAM Standards, it is implementation-specific how // source_reference is resolved. // - // \note The value has to be repeated, as it cannot guarantee, that one - // object is derived from only one origin source, like from one - // scernario file and and from the sensors. + // \note The value has to be repeated because one object may be derived + // from more than one origin source, for example, from a scenario file + // and from sensors. // repeated ExternalReference source_reference = 3; diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index e403b99ea..9cec476e3 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -55,9 +55,9 @@ message RoadMarking // optional Classification classification = 3; - // Optional external Reference to the Roadmarking Source + // Optional external reference to the road-marking source. // - // The ExternalReference point to the source of the surface marking, if it + // The external reference points to the source of the surface marking, if it // is derived from one or more objects or external references. An example // here is the reference to the signal defined in a OpenDRIVE map. // @@ -67,20 +67,17 @@ message RoadMarking // * type = "net.asam.opendrive" // * identifier[0] = id of t_road_signals_signal // - // \note In OpenDRIVE there is also the possibility to define surface - // markings as an object. In this case, the associated object is - // usually referenced within OpenDRIVE using the reference - // t_road_signals_signal_reference, which allows it to be - // identifiable. + // \note With OpenDRIVE, surface markings can also be defined as objects. + // In this case, the associated object is usually referenced within + // OpenDRIVE using the reference t_road_signals_signal_reference. // An additional reference to the object is therefore not necessary. // // \note For non-ASAM Standards, it is implementation-specific how // source_reference is resolved. // - // \note The value has to be repeated, as it cannot guarantee, that one - // Lane-Segment is derived from only one origin segment. It is also - // possible, that multiple sources (map, sensor) should be added as - // reference. + // \note The value has to be repeated, because one lane segment may be + // derived from more than one origin segment. Multiple sources + // may be added as reference as well, for example, a map and sensors. // repeated ExternalReference source_reference = 4; diff --git a/osi_trafficlight.proto b/osi_trafficlight.proto index b3143ce9c..eaf7e11a4 100644 --- a/osi_trafficlight.proto +++ b/osi_trafficlight.proto @@ -42,14 +42,14 @@ message TrafficLight // optional string model_reference = 4; - // Optional external Reference to the Traffic Light Source + // Optional external reference to the traffic light source. // - // The ExternalReference point to the source of the traffic light, if it is - // derived from one or more objects or external references. An example here - // is the reference to the signal defined in a OpenDRIVE map. + // The external reference points to the source of the traffic light, if it + // is derived from one or more objects or external references. // - // For OpenDRIVE the items should be set as following: - // * reference = URI to map, can remain empty if identical with definiton + // For example, to reference a signal defined in an OpenDRIVE map + // the items should be set as following: + // * reference = URI to map, can remain empty if identical with definition // in \c GroundTruth::map_reference // * type = "net.asam.opendrive" // * identifier[0] = id of t_road_signals_signal @@ -57,10 +57,9 @@ message TrafficLight // \note For non-ASAM Standards, it is implementation-specific how // source_reference is resolved. // - // \note The value has to be repeated, as it cannot guarantee, that one - // Lane-Segment is derived from only one origin segment. It is also - // possible, that multiple sources (map, sensor) should be added as - // reference. + // \note The value has to be repeated, because one lane segment may be + // derived from more than one origin segment. Multiple sources + // may be added as reference as well, for example, a map and sensors. // repeated ExternalReference source_reference = 5; diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 165f98377..25ce6eb26 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -157,13 +157,13 @@ message TrafficSign repeated SupplementarySign supplementary_sign = 3; - // Optional external Reference to the Traffic Sign Source + // Optional external reference to the traffic sign source. // - // The ExternalReference point to the source of the traffic sign, if it is - // derived from one or more objects or external references. An example here - // is the reference to the signal defined in a OpenDRIVE map. + // The external reference point to the source of the traffic sign, if it is + // derived from one or more objects or external references. // - // For OpenDRIVE the items should be set as following: + // For example, to reference a signal defined in an OpenDRIVE map + // the items should be set as following: // * reference = URI to map, can remain empty if identical with definition // in \c GroundTruth::map_reference // * type = "net.asam.opendrive" @@ -173,13 +173,12 @@ message TrafficSign // source_reference is resolved. // // \note If an individual identification of MainSign and SupplementarySign - // is be necessary, this sould be defined via multiple individual + // is necessary, this should be done via multiple individual // entries of this source_reference. // - // \note The value has to be repeated, as it cannot guarantee, that one - // Lane-Segment is derived from only one origin segment. It is also - // possible, that multiple sources (map, sensor) should be added as - // reference. + // \note The value has to be repeated, because one lane segment may be + // derived from more than one origin segment. Multiple sources + // may be added as reference as well, for example, a map and sensors. // repeated ExternalReference source_reference = 4; From d2e700ee1e08414f263bda6648e9c037ad6ade88 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Wed, 26 May 2021 11:32:21 +0200 Subject: [PATCH 051/219] fix(docs): Remove stray line (#465) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 1 - 1 file changed, 1 deletion(-) diff --git a/osi_common.proto b/osi_common.proto index a68188efd..e75c1600a 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -219,7 +219,6 @@ message Identifier // // The external reference is an optional recommendation to refer to objects defined outside of OSI. // This could be other OpenX standards, 3rd-party standards or user-defined objects. -// simulation environments. // // \note ExternalReference is optional and can be left empty. // From 6a3ade23ba6227b17389e04daf180986600b8e8e Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Wed, 26 May 2021 11:45:31 +0200 Subject: [PATCH 052/219] fix(docs): Align wording across files (#465) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 2 +- osi_object.proto | 13 ++++++++----- osi_roadmarking.proto | 3 ++- osi_trafficlight.proto | 2 +- osi_trafficsign.proto | 2 +- 5 files changed, 13 insertions(+), 9 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index ce63abd47..05e4bbcdf 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -56,7 +56,7 @@ message Lane // from one or more objects or external references. // // For example, to reference a lane defined in an OpenDRIVE map - // the items should be set as following: + // the items should be set as follows: // * reference = URI to map, can remain empty if identical with definiton // in \c GroundTruth::map_reference // * type = "net.asam.opendrive" diff --git a/osi_object.proto b/osi_object.proto index e4cab2af9..1578f7bf3 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -45,7 +45,8 @@ message StationaryObject // The external reference points to the source of a stationary object, if it // is derived from an external sources like OpenDRIVE or OpenSCENARIO. // - // For OpenDRIVE, references to objects should be set as following: + // For example, to reference an object defined in an OpenDRIVE map + // the items should be set as follows: // * reference = URI to map, can remain empty if identical with definiton // in \c GroundTruth::map_reference // * type = "net.asam.opendrive" @@ -53,8 +54,9 @@ message StationaryObject // "bridge" for t_road_objects_bridge // * identifier[1] = id of t_road_objects_object or t_road_objects_bridge // - // For OpenSCENARIO, references to entities of the type MiscObject, which - // describes partly stationary objects, should be set as following: + // For example, to reference OpenSCENARIO entities of the type MiscObject, + // which describe partly stationary objects, the items should be set as + // follows: // * reference = URI to the OpenSCENARIO File // * type = "net.asam.openscenario" // * identifier[0] = Entity-Type ("MiscObject") @@ -397,8 +399,9 @@ message MovingObject // The external reference points to the source of an moving object, if it // is derived from an external sources like OpenSCENARIO. // - // For OpenSCENARIO, references to entities of the type Vehicle or - // Pedestrian, which describe moving objects, should be set as following: + // For example, to reference OpenSCENARIO entities of the type Vehicle or + // Pedestrian, which describe moving objects, the items should be set as + // follows: // * reference = URI to the OpenSCENARIO File // * type = "net.asam.openscenario" // * identifier[0] = Entity-Type ("Vehicle" or "Pedestrian") diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index 9cec476e3..96f5add9e 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -61,7 +61,8 @@ message RoadMarking // is derived from one or more objects or external references. An example // here is the reference to the signal defined in a OpenDRIVE map. // - // For OpenDRIVE the items should be set as following: + // For example, to reference a signal defined in an OpenDRIVE map + // the items should be set as follows: // * reference = URI to map, can remain empty if identical with definiton // in \c GroundTruth::map_reference // * type = "net.asam.opendrive" diff --git a/osi_trafficlight.proto b/osi_trafficlight.proto index eaf7e11a4..d88528cf7 100644 --- a/osi_trafficlight.proto +++ b/osi_trafficlight.proto @@ -48,7 +48,7 @@ message TrafficLight // is derived from one or more objects or external references. // // For example, to reference a signal defined in an OpenDRIVE map - // the items should be set as following: + // the items should be set as follows: // * reference = URI to map, can remain empty if identical with definition // in \c GroundTruth::map_reference // * type = "net.asam.opendrive" diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 25ce6eb26..68fb0a048 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -163,7 +163,7 @@ message TrafficSign // derived from one or more objects or external references. // // For example, to reference a signal defined in an OpenDRIVE map - // the items should be set as following: + // the items should be set as follows: // * reference = URI to map, can remain empty if identical with definition // in \c GroundTruth::map_reference // * type = "net.asam.opendrive" From 40742a8def3d7ff90074db43bdaeba6528176dcc Mon Sep 17 00:00:00 2001 From: "Schloemicher, Thomas AVL,AT" <thomas.schloemicher@avl.com> Date: Wed, 27 Jan 2021 10:02:53 +0100 Subject: [PATCH 053/219] Add type speed bump to stationary object MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Schloemicher, Thomas AVL,AT <thomas.schloemicher@avl.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/osi_object.proto b/osi_object.proto index 1578f7bf3..5a430e092 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -173,6 +173,10 @@ message StationaryObject // environment, like beacons. // TYPE_CONSTRUCTION_SITE_ELEMENT = 16; + + // Object is a speed bump. + // + TYPE_SPEED_BUMP = 17; } // Definition of material types. From 2c23affb1053f87f39d60c349e8348c547116b16 Mon Sep 17 00:00:00 2001 From: Marcel Sachse <msachse@pmsfit.de> Date: Tue, 29 Jun 2021 10:33:45 +0200 Subject: [PATCH 054/219] Documentation Update (fix typo + better wording) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Marcel Sachse <msachse@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_roadmarking.proto | 6 +++--- osi_trafficsign.proto | 40 ++++++++++++++++++++-------------------- 2 files changed, 23 insertions(+), 23 deletions(-) diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index 96f5add9e..894f0304d 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -149,7 +149,7 @@ message RoadMarking // Boolean flag to indicate that the road marking is taken out of service. // This can be achieved by visibly crossing the road marking with stripes, - // or completly covering a road marking making it not visible. + // or completely covering a road marking making it not visible. // // \image html OSI_RoadMaking_is_out_of_service.jpg width=800px // @@ -182,8 +182,8 @@ message RoadMarking // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Type will be dealt in future will be discussed in Harmonization OpenX group.<br> - // Deprecated planned for version 4.0.0 + // How the Type will be dealt with in future will be discussed in Harmonization OpenX group.<br> + // Deprecated status planned for version 4.0.0 // enum Type { diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 68fb0a048..9497f9c3c 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -253,8 +253,8 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Type type will be dealt in future will be discussed in Harmonization OpenX group.<br> - // Deprecated planned for version 4.0.0 + // How the Type type will be dealt with in future will be discussed in Harmonization OpenX group.<br> + // Deprecated status planned for version 4.0.0 optional Type type = 2; // Additional value associated with the traffic sign, e.g. value of @@ -288,8 +288,8 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the DirectionScope direction_scope will be dealt in future will be discussed in Harmonization OpenX group.<br> - // Deprecated planned for version 4.0.0 + // How the DirectionScope direction_scope will be dealt with in future will be discussed in Harmonization OpenX group.<br> + // Deprecated status planned for version 4.0.0 optional DirectionScope direction_scope = 4; // The IDs of the lanes that the sign is assigned to. @@ -316,8 +316,8 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the bool vertically_mirrored will be dealt in future will be discussed in Harmonization OpenX group.<br> - // Deprecated planned for version 4.0.0 + // How the bool vertically_mirrored will be dealt with in future will be discussed in Harmonization OpenX group.<br> + // Deprecated status planned for version 4.0.0 optional bool vertically_mirrored = 6; // Boolean flag to indicate that a traffic sign is taken out of service. @@ -369,8 +369,8 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Type will be dealt in future will be discussed in Harmonization OpenX group.<br> - // Deprecated planned for version 4.0.0 + // How the Type will be dealt with in future will be discussed in Harmonization OpenX group.<br> + // Deprecated status planned for version 4.0.0 enum Type { // Type of traffic sign is unknown (must not be used in ground @@ -5565,8 +5565,8 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Type type will be dealt in future will be discussed in Harmonization OpenX group.<br> - // Deprecated planned for version 4.0.0 + // How the Type type will be dealt with in future will be discussed in Harmonization OpenX group.<br> + // Deprecated status planned for version 4.0.0 optional Type type = 2; // Additional value(s) associated with the traffic sign, e.g. @@ -5598,16 +5598,16 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Actor actor will be dealt in future will be discussed in Harmonization OpenX group.<br> - // Deprecated planned for version 4.0.0 + // How the Actor actor will be dealt with in future will be discussed in Harmonization OpenX group.<br> + // Deprecated status planned for version 4.0.0 repeated Actor actor = 5; // A direction arrow shown on the supplementary sign. // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Arrow arrow will be dealt in future will be discussed in Harmonization OpenX group.<br> - // Deprecated planned for version 4.0.0 + // How the Arrow arrow will be dealt with in future will be discussed in Harmonization OpenX group.<br> + // Deprecated status planned for version 4.0.0 repeated Arrow arrow = 6; // Boolean flag to indicate that the supplementary traffic sign is taken out of service. @@ -5654,8 +5654,8 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the enum Type will be dealt in future will be discussed in Harmonization OpenX group.<br> - // Deprecated planned for version 4.0.0 + // How the enum Type will be dealt with in future will be discussed in Harmonization OpenX group.<br> + // Deprecated status planned for version 4.0.0 enum Type { // Type of supplementary sign is unknown (must not be used in @@ -9073,8 +9073,8 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the enum Actor will be dealt in future will be discussed in Harmonization OpenX group.<br> - // Deprecated planned for version 4.0.0 + // How the enum Actor will be dealt with in future will be discussed in Harmonization OpenX group.<br> + // Deprecated status planned for version 4.0.0 enum Actor { // An unknown actor @@ -9302,8 +9302,8 @@ message TrafficSign // // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the enum Direction will be dealt in future will be discussed in Harmonization OpenX group.<br> - // Deprecated planned for version 4.0.0 + // How the enum Direction will be dealt with in future will be discussed in Harmonization OpenX group.<br> + // Deprecated status planned for version 4.0.0 enum Direction { // Direction of sign is unknown (must not be used in ground From cb1ac8b40b56bb1d0bd14fa57c2ce8e82fcacd66 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Mon, 19 Apr 2021 09:27:51 +0200 Subject: [PATCH 055/219] Describe top-level messages (#506) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/feature_data.adoc | 11 +++-------- doc/architecture/ground_truth.adoc | 17 +++++++++-------- doc/architecture/sensor_data.adoc | 11 ++++------- doc/architecture/sensor_view.adoc | 13 ++++++------- doc/architecture/sensor_view_configuration.adoc | 16 +++++++++------- 5 files changed, 31 insertions(+), 37 deletions(-) diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc index c1bd3ec51..f739be7d8 100644 --- a/doc/architecture/feature_data.adoc +++ b/doc/architecture/feature_data.adoc @@ -1,10 +1,5 @@ = Feature data -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Feature data contains detected features in the reference frame of a sensor. +Feature data is generated from ground-truth data. +It serves, for example, as input for sensor models simulating object detection or feature fusion models. diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index b15de8ab6..cbc983fa8 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -1,10 +1,11 @@ = Ground truth -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Ground truth describes the simulated environment around all simulated host vehicles in a global coordinate system. +Ground truth provides an exact view on the simulated objects in a global coordinate system. +It is based on internally available data and published to external subscribers. +Depending on the external subscriber, ground-truth data may be individually restricted. + +//TODO: It looks like we may have two conflicting descriptions here. +// I cannot tell which one is correct or if they are conflicting at all. +// The first sentence is based on the comments in the proto files. +// The second sentence is based on the description on Github pages. \ No newline at end of file diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index ef5164e41..1eb25af1a 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,9 +1,6 @@ = Sensor data -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Sensor data imitates the output of real sensors. +It is generated from ground-truth data, feature data or from sensor data. +All information regarding the environment is given with respect to the virtual sensor coordinate system, except for feature data, which is given with respect to the physical sensor coordinate system. +Sensor data can be used as input of an automated driving function, a sensor model simulating limited perception, or a sensor fusion model. diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index 1bdec6fc7..07c9ee0fd 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -1,9 +1,8 @@ = Sensor view -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Sensor view imitates the input of sensors. +Sensor-view data is derived from ground-truth data. +All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: + +* Individual physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position +* Ground truth data, given in global coordinates. \ No newline at end of file diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index c7e9f3f02..cde42c688 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,9 +1,11 @@ = Sensor view configuration -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +The sensor view configuration configures the sensor view. +It is provided by the environment simulation. +Sensor view configuration data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model. +Sensor view configuration data is not intended to provide parameters to a generic sensor model. + +Sensor view configuration data can also be provided by the sensor model to the environment simulation. +In that case, it describes the input configuration that is desired by the sensor model. +In response the environment simulation will configure the input and provide a new message which describes the actual configuration. +These two messages may differ, when the environment simulation does not support a given requested configuration or when the requested configuration allowed is ambiguous. From 2fddce9cdeb0a75d441cae36c61e81723e289c23 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Wed, 26 May 2021 16:22:43 +0200 Subject: [PATCH 056/219] feat(docs): Add traffic command and traffic update (#506) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/traffic_command.adoc | 3 +++ doc/architecture/traffic_update.adoc | 4 ++++ doc/open-simulation-interface_user_guide.adoc | 4 ++++ 3 files changed, 11 insertions(+) create mode 100644 doc/architecture/traffic_command.adoc create mode 100644 doc/architecture/traffic_update.adoc diff --git a/doc/architecture/traffic_command.adoc b/doc/architecture/traffic_command.adoc new file mode 100644 index 000000000..6e70b6bd4 --- /dev/null +++ b/doc/architecture/traffic_command.adoc @@ -0,0 +1,3 @@ += Traffic command + +Traffic commands contain control commands from the scenario engine to traffic participant models. \ No newline at end of file diff --git a/doc/architecture/traffic_update.adoc b/doc/architecture/traffic_update.adoc new file mode 100644 index 000000000..b8795e645 --- /dev/null +++ b/doc/architecture/traffic_update.adoc @@ -0,0 +1,4 @@ += Traffic update + +Traffic updates are provided by traffic participants. +They provide updates of the position, state and future trajectory of a traffic participant back to the simulation environment. \ No newline at end of file diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 5e500623d..b443972da 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -40,6 +40,10 @@ include::./architecture/sensor_view_configuration.adoc[leveloffset=+3] include::./architecture/sensor_data.adoc[leveloffset=+3] +include::./architecture/traffic_command.adoc[leveloffset=+3] + +include::./architecture/traffic_update.adoc[leveloffset=+3] + === Model types include::./architecture/environmental_effect_model.adoc[leveloffset=+3] From c68090df6c5ddbeb551fef361cc96cce38b82799 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Thu, 10 Jun 2021 06:34:06 +0200 Subject: [PATCH 057/219] Implement review comments (#506) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/ground_truth.adoc | 12 +++--------- doc/architecture/sensor_data.adoc | 4 ++-- doc/architecture/sensor_view.adoc | 4 ++-- 3 files changed, 7 insertions(+), 13 deletions(-) diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index cbc983fa8..7ae617f47 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -1,11 +1,5 @@ = Ground truth -Ground truth describes the simulated environment around all simulated host vehicles in a global coordinate system. -Ground truth provides an exact view on the simulated objects in a global coordinate system. -It is based on internally available data and published to external subscribers. -Depending on the external subscriber, ground-truth data may be individually restricted. - -//TODO: It looks like we may have two conflicting descriptions here. -// I cannot tell which one is correct or if they are conflicting at all. -// The first sentence is based on the comments in the proto files. -// The second sentence is based on the description on Github pages. \ No newline at end of file +Ground truth describes the simulated environment around all simulated objects in the global coordinate system. +It is based on data available to the simulation environment and published to external subscribers. +Depending on the external subscriber, ground-truth data may be individually restricted to reduce the data to be exchanged. diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index 1eb25af1a..bcef34070 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,6 +1,6 @@ = Sensor data Sensor data imitates the output of real sensors. -It is generated from ground-truth data, feature data or from sensor data. +It is generated from ground-truth data, sensor-view data, feature data or from sensor data. All information regarding the environment is given with respect to the virtual sensor coordinate system, except for feature data, which is given with respect to the physical sensor coordinate system. -Sensor data can be used as input of an automated driving function, a sensor model simulating limited perception, or a sensor fusion model. +Sensor data can be used as input for an automated driving function, a sensor model simulating limited perception, or a sensor fusion model. diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index 07c9ee0fd..54f8fdd85 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -4,5 +4,5 @@ Sensor view imitates the input of sensors. Sensor-view data is derived from ground-truth data. All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: -* Individual physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position -* Ground truth data, given in global coordinates. \ No newline at end of file +* Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position. +* Ground-truth data, given in the global coordinate system. \ No newline at end of file From ca228455a62497d5a0b449a0f89f690e512a36f7 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Thu, 24 Jun 2021 11:26:07 +0200 Subject: [PATCH 058/219] fix(docs): Implement changes after review (#506) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/sensor_data.adoc | 5 +++-- .../sensor_view_configuration.adoc | 18 +++++++++++------- 2 files changed, 14 insertions(+), 9 deletions(-) diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index bcef34070..1db02ddc1 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,6 +1,7 @@ = Sensor data Sensor data imitates the output of real sensors. -It is generated from ground-truth data, sensor-view data, feature data or from sensor data. -All information regarding the environment is given with respect to the virtual sensor coordinate system, except for feature data, which is given with respect to the physical sensor coordinate system. +It can be generated from ground-truth data, sensor-view data, feature data or from sensor data. +Except 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. diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index cde42c688..a7ceca4ef 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,11 +1,15 @@ = Sensor view configuration The sensor view configuration configures the sensor view. -It is provided by the environment simulation. -Sensor view configuration data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model. -Sensor view configuration data is not intended to provide parameters to a generic sensor model. +There are two sources for sensor-view-configuration data. -Sensor view configuration data can also be provided by the sensor model to the environment simulation. -In that case, it describes the input configuration that is desired by the sensor model. -In response the environment simulation will configure the input and provide a new message which describes the actual configuration. -These two messages may differ, when the environment simulation does not support a given requested configuration or when the requested configuration allowed is ambiguous. +Sensor-view-configuration data can be provided by the environment simulation. +In this case, the data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model. +Sensor-view-configuration data is not intended to provide parameters to a generic sensor model. + +Sensor-view-configuration data can also be provided by the sensor model to the environment simulation. +In this case, the data describes the input configuration that is desired by the sensor model. +In response, the environment simulation will configure the input and provide a new message which describes the actual configuration. +The configuration requested by the sensor model may differ from the actual configuration. +This happens when the environment simulation does not support a given requested configuration or when the requested configuration allowed is ambiguous. +The message describing the requested configuration differs from the message describing the actual configuration. From 5d02cf6f73adcc1094929e75f0901c20e0a9aaa9 Mon Sep 17 00:00:00 2001 From: max-rosin <62103539+max-rosin@users.noreply.github.com> Date: Wed, 7 Jul 2021 14:55:05 +0200 Subject: [PATCH 059/219] feat(docs): Describe coordinate systems and reference points (#510) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/coordinate_systems.adoc | 11 - doc/architecture/reference_points.adoc | 10 - .../reference_points_coordinate_systems.adoc | 17 + doc/images/osi_example_coordinate_systems.png | Bin 0 -> 172034 bytes doc/images/osi_example_coordinate_systems.svg | 6754 +++++++++++++++++ doc/open-simulation-interface_user_guide.adoc | 13 +- .../transforming_coordinate_systems.adoc | 31 + 7 files changed, 6809 insertions(+), 27 deletions(-) delete mode 100644 doc/architecture/coordinate_systems.adoc delete mode 100644 doc/architecture/reference_points.adoc create mode 100644 doc/architecture/reference_points_coordinate_systems.adoc create mode 100644 doc/images/osi_example_coordinate_systems.png create mode 100644 doc/images/osi_example_coordinate_systems.svg create mode 100644 doc/usecases/transforming_coordinate_systems.adoc diff --git a/doc/architecture/coordinate_systems.adoc b/doc/architecture/coordinate_systems.adoc deleted file mode 100644 index 2034e3cd7..000000000 --- a/doc/architecture/coordinate_systems.adoc +++ /dev/null @@ -1,11 +0,0 @@ -= Coordinate systems - -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. -Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/reference_points.adoc b/doc/architecture/reference_points.adoc deleted file mode 100644 index 39ebf5240..000000000 --- a/doc/architecture/reference_points.adoc +++ /dev/null @@ -1,10 +0,0 @@ -= Reference points - -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc new file mode 100644 index 000000000..bea9a1314 --- /dev/null +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -0,0 +1,17 @@ += Coordinate systems and reference points + +OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between coordinate systems. +OSI uses three coordinate systems: + +World coordinate system:: +Coordinate system for all quantities which are part of ground truth. +The world coordinate system is an inertial x/y/z-coordinate system. + +Sensor coordinate system:: +Coordinate system for all quantities which are part of sensor data. +The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the technology. + +Object coordinate system:: +Coordinate system for local object coordinates. +The origin of the corresponding coordinate systems is not necessarily identical to the center of the object's bounding box. +For example with vehicles, the origin is the middle of the rear axle projected onto the ground. diff --git a/doc/images/osi_example_coordinate_systems.png b/doc/images/osi_example_coordinate_systems.png new file mode 100644 index 0000000000000000000000000000000000000000..902cfb21cb1a5e0bc1be717201e56eda1471bf0a GIT binary patch literal 172034 zcmZTw1yodB*PfueyBWGgU?f$#WdK21LX;dOm72j<DFqo2kWy)oZUNz{Gy)P*5~HAW zi-6RB`MwwRTmM?Hm^Iuvcb|Rse)hBDPSh16ZAvmWG6)1hsjH)bf<Q>XU-(-RBJiEj z9gb4)4=GybnhylROndqZ?H1ft1K(uz)wJ|A^}gX7aQ%)8Bp@I_@|KsokJELui=_7* z*R(ZdHVA|VqN{PqEHHg#Dj+f4W&dO|K>kfU!DTuU&dV{wJev0-wFnM13q?uZ!XoW2 z0+(}ycVf(BFdL7<9cZ5N^a@8-V4;NS>ne#fJfyr2emIAP*))Do-d+(LU-|ypHDIR9 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+// // :nofooter: :last-update-label!: //embed images into html -:data-uri: +:data-uri: :mathematical-format: svg :imagesoutdir: ../images/generated_images @@ -58,9 +59,9 @@ include::./architecture/vehicle_dynamics.adoc[leveloffset=+3] === Coordinate systems and reference points -include::./architecture/coordinate_systems.adoc[leveloffset=+3] +include::./architecture/reference_points_coordinate_systems.adoc[leveloffset=+3] -include::./architecture/reference_points.adoc[leveloffset=+3] +include::./usecases/transforming_coordinate_systems.adoc[leveloffset=+3] //=== Layering diff --git a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc new file mode 100644 index 000000000..c3be8b3d7 --- /dev/null +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -0,0 +1,31 @@ += Transforming coordinate systems + +Transforming coordinates for a specific vehicle or sensor is a common task when running simulations. +OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between coordinate systems. + +//TODO: Should we add one or more sentences about the mathematical operations involved? + +**Corresponding messages** + +``GroundTruth::moving_object::base::position``:: +Defines the position of the vehicle’s reference point in world coordinates. +In Open Simulation Interface, the position of an object is defined by the coordinates of the center of the object's bounding box. + +``GroundTruth::moving_object::base::orientation``:: +Defines the orientation of the vehicle’s reference point in world coordinates. + +``GroundTruth::moving_object::vehicle_attributes::bbcenter_to_rear``:: +The vector pointing from the vehicle’s reference point to the middle of the rear axle under neutral load conditions in vehicle coordinates. + +``SensorData::mounting_position``:: +Defines the sensor’s position and orientation and thereby the origin of the sensor coordinate system. +The mounting position is given in the vehicle coordinate system. + +**Example** + +The following image shows the relationship between the coordinate systems. +The reference point of the vehicle is given by a vector in the world coordinate system. +A vector pointing from the reference position of the vehicle to the center of the rear axle then yields the origin of the vehicle coordinate system. +The mounting positions of the sensors and therefore the origins of the corresponding sensor coordinate systems are then given with respect to the vehicle coordinate system. + +image::{imagedir}/osi_example_coordinate_systems.png[] \ No newline at end of file From cf8a3835ba0502299f7052ab08d2170d47b0bf8b Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Tue, 18 May 2021 09:38:02 +0200 Subject: [PATCH 060/219] Describe trace files (#520) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/formatting_scripts.adoc | 52 ++++++++++++++++++++---- doc/architecture/trace_file_formats.adoc | 23 +++++++---- doc/architecture/trace_file_naming.adoc | 26 ++++++++---- 3 files changed, 79 insertions(+), 22 deletions(-) diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index de9f61dc1..a3c0de484 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -1,12 +1,48 @@ -= Formatting scripts +# Trace-file formatting scripts -TODO: Add general description. +OSI provides Python scripts for converting trace files from one format to the other. +The formatting scripts are stored in `open-simulation-interface/format/` -osi2read.py:: -TODO: Add description. +**txt2osi.py** -OSITrace.py:: -TODO: Add description. +`txt2osi.py` converts plain-text trace files to binary `.osi` trace files. +This script takes the following parameters: -txt2osi.py:: -TODO: Add description. +`--data`, `-d`:: +String containing the path to the file with serialized data. + +`--type`, `-t`:: +Optional string containing the name of the type used to serialize data. +Allowed values are `'SensorView'`, `'GroundTruth'`, and `'SensorData'`. +The default value is `'SensorView'`. + +`--output`, `-o`:: +Optional string containing the name of the output file., +The default value is 'converted.osi'. + +`--compress`, `-c`:: +Optional boolean controlling whether to compress the output to a lzma file.. +Allowed values are `'True'`, and `False`. +The default value is `False`. + +**osi2read.py** + +`osi2read.py` converts trace files to human-readable `.txth` trace files. +This script takes the following parameters: + +`--data`, `-d`:: +String containing the path to the file with serialized data. + +`--type`, `-t`:: +Optional string containing the name of the type used to serialize data. +Allowed values are `'SensorView'`, `'GroundTruth'`, and `'SensorData'`. +The default value is `'SensorView'`. + +`--output`, `-o`:: +Optional string containing the name of the output file., +The default value is 'converted.txth'. + +`--format`, `-f`:: +Optional string containing the format type of the trace. +Allowed values are `'separated'`, and `None`. +The default value is `None`. \ No newline at end of file diff --git a/doc/architecture/trace_file_formats.adoc b/doc/architecture/trace_file_formats.adoc index 8367a3a53..9831b8834 100644 --- a/doc/architecture/trace_file_formats.adoc +++ b/doc/architecture/trace_file_formats.adoc @@ -1,9 +1,18 @@ = OSI trace file formats -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +There are multiple formats for storing multiple serialized OSI messages into one trace file + +*.osi:: +Binary trace file. +Messages are separated by a length specifications before each message. +The length is represented by a four-byte, little-endian, unsigned integer. +The length does not include the integer itself. + +*.txt:: +Plain-text trace file. +Messages are separated by `$$__$$`. + +*.txth:: +Human-readable plain-text trace file. +Messages are separated by newlines. +Such a filen may be used for manual checks. diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc index c2c717835..dcd20e497 100644 --- a/doc/architecture/trace_file_naming.adoc +++ b/doc/architecture/trace_file_naming.adoc @@ -1,9 +1,21 @@ = OSI trace file naming conventions -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +**Name format** + +Names of OSI trace files should have the following format: + +[source] +---- +<type>_<osi-version>_<protobuf-version>_<frame-number>_<custom-trace-name>.osi +---- + +**Types** + +`sd`:: +Trace file contains sensor-data messages. + +`sv`:: +Trace file contains sensor-view messages. + +`gt`:: +Trace file contains ground-truth messages. From 30005424bcdf620ca3410844a6640abbe9749b4f Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Tue, 18 May 2021 09:47:43 +0200 Subject: [PATCH 061/219] Fix typos (#520) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/formatting_scripts.adoc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index a3c0de484..fde9bac4f 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -18,11 +18,11 @@ The default value is `'SensorView'`. `--output`, `-o`:: Optional string containing the name of the output file., -The default value is 'converted.osi'. +The default value is `'converted.osi'`. `--compress`, `-c`:: Optional boolean controlling whether to compress the output to a lzma file.. -Allowed values are `'True'`, and `False`. +Allowed values are `True`, and `False`. The default value is `False`. **osi2read.py** @@ -40,7 +40,7 @@ The default value is `'SensorView'`. `--output`, `-o`:: Optional string containing the name of the output file., -The default value is 'converted.txth'. +The default value is `'converted.txth'`. `--format`, `-f`:: Optional string containing the format type of the trace. From f6b6ee602101e4e92436dd0995cb048c6587d9a0 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Thu, 24 Jun 2021 10:59:46 +0200 Subject: [PATCH 062/219] fix(docs): Fix typos, add example file name (#520) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/formatting_scripts.adoc | 8 +++---- doc/architecture/trace_file_formats.adoc | 2 +- doc/architecture/trace_file_naming.adoc | 29 ++++++++++++++++++++++++ 3 files changed, 34 insertions(+), 5 deletions(-) diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index fde9bac4f..4536f7264 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -1,4 +1,4 @@ -# Trace-file formatting scripts += Trace-file formatting scripts OSI provides Python scripts for converting trace files from one format to the other. The formatting scripts are stored in `open-simulation-interface/format/` @@ -17,11 +17,11 @@ Allowed values are `'SensorView'`, `'GroundTruth'`, and `'SensorData'`. The default value is `'SensorView'`. `--output`, `-o`:: -Optional string containing the name of the output file., +Optional string containing the name of the output file. The default value is `'converted.osi'`. `--compress`, `-c`:: -Optional boolean controlling whether to compress the output to a lzma file.. +Optional boolean controlling whether to compress the output to a lzma file. Allowed values are `True`, and `False`. The default value is `False`. @@ -39,7 +39,7 @@ Allowed values are `'SensorView'`, `'GroundTruth'`, and `'SensorData'`. The default value is `'SensorView'`. `--output`, `-o`:: -Optional string containing the name of the output file., +Optional string containing the name of the output file. The default value is `'converted.txth'`. `--format`, `-f`:: diff --git a/doc/architecture/trace_file_formats.adoc b/doc/architecture/trace_file_formats.adoc index 9831b8834..6ebda516e 100644 --- a/doc/architecture/trace_file_formats.adoc +++ b/doc/architecture/trace_file_formats.adoc @@ -1,6 +1,6 @@ = OSI trace file formats -There are multiple formats for storing multiple serialized OSI messages into one trace file +There are multiple formats for storing multiple serialized OSI messages into one trace file. *.osi:: Binary trace file. diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc index dcd20e497..951b17c69 100644 --- a/doc/architecture/trace_file_naming.adoc +++ b/doc/architecture/trace_file_naming.adoc @@ -19,3 +19,32 @@ Trace file contains sensor-view messages. `gt`:: Trace file contains ground-truth messages. + +**Example** + +Given an OSI trace file with the following information: + +[cols="1,1"] +|=== +|Type +|SensorView + +|OSI Version +|3.1.2 + +|Protobuf Version +|3.0.0 + +|Number of frames +|1523 + +|Scenario name +|highway +|=== + +The recommend file name is: + +[source] +---- +sv_312_300_1523_highway.osi +---- From c518c3654f73a84700eecc4b1d42d22ac321adb0 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Wed, 7 Jul 2021 10:41:57 +0200 Subject: [PATCH 063/219] fix(docs): Improve wording after review (#520) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/formatting_scripts.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index 4536f7264..306efa65b 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -1,6 +1,6 @@ = Trace-file formatting scripts -OSI provides Python scripts for converting trace files from one format to the other. +The OSI repository contains Python scripts for converting trace files from one format to the other. The formatting scripts are stored in `open-simulation-interface/format/` **txt2osi.py** From 6aa4d4fc94fb69a3bf2743a8134e2de6e4fe5403 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Thu, 6 May 2021 16:13:58 +0200 Subject: [PATCH 064/219] feat(docs): Describe model types (#517) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .../environmental_effect_model.adoc | 15 +++++++-------- doc/architecture/logical_model.adoc | 12 ++++-------- doc/architecture/sensor_model.adoc | 11 ++++------- doc/architecture/traffic_participant.adoc | 9 ++++++++- doc/images/osi-traffic-participant-advanced.png | Bin 0 -> 54822 bytes .../osi-traffic-participant-principle.png | Bin 0 -> 23836 bytes doc/open-simulation-interface_user_guide.adoc | 2 +- 7 files changed, 24 insertions(+), 25 deletions(-) create mode 100644 doc/images/osi-traffic-participant-advanced.png create mode 100644 doc/images/osi-traffic-participant-principle.png diff --git a/doc/architecture/environmental_effect_model.adoc b/doc/architecture/environmental_effect_model.adoc index 6c79080e1..a27bc026e 100644 --- a/doc/architecture/environmental_effect_model.adoc +++ b/doc/architecture/environmental_effect_model.adoc @@ -1,10 +1,9 @@ = Environmental effect model -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Environmental effect models consume sensor-view data and produce sensor-view data. +Environmental effect models may, for example, include the following: + +* Shadows and oclusion +* Weather effects +* Physics of a sensor +* Pre-processing of raw sensor data diff --git a/doc/architecture/logical_model.adoc b/doc/architecture/logical_model.adoc index af8dbb0e8..cdfe0d5b9 100644 --- a/doc/architecture/logical_model.adoc +++ b/doc/architecture/logical_model.adoc @@ -1,10 +1,6 @@ = Logical model -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Logical models consume sensor-data data and produce sensor-data data. + +An example of a logical model is a sensor-fusion model, which fuses the output of multiple sensor models. +Another use case is the injection of faults after the sensor model. diff --git a/doc/architecture/sensor_model.adoc b/doc/architecture/sensor_model.adoc index c6b93997e..b2c373774 100644 --- a/doc/architecture/sensor_model.adoc +++ b/doc/architecture/sensor_model.adoc @@ -1,9 +1,6 @@ = Sensor model -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Sensor models consume sensor-view data and produce sensor-data data. +Those models can be based on physics or phenomenological. + +Sensor-model output does not represent raw data, but detected features or classified objects. \ No newline at end of file diff --git a/doc/architecture/traffic_participant.adoc b/doc/architecture/traffic_participant.adoc index 137bea8d0..f6bed48b3 100644 --- a/doc/architecture/traffic_participant.adoc +++ b/doc/architecture/traffic_participant.adoc @@ -14,7 +14,14 @@ Therefore, the ego vehicle is also a traffic participant. The following figure shows the interface of a traffic participant. -TODO: Add image of traffic participant interface. +.Interface of a traffic participant +image::osi-traffic-participant-principle.png[1100] + +Traffic participant models may use other OSI interfaces internally, for example, to model autonomous vehicles. +The following figure shows a more advanced use case for traffic participants. + +.Traffic participant using other OSI interfaces internally +image::osi-traffic-participant-advanced.png.png[1100] With every simulation step, an OSI traffic participant model receives ground truth data from the environment around itself, the sensor view. 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+//include::./architecture/vehicle_dynamics.adoc[leveloffset=+3] === Coordinate systems and reference points From f4aa148121783de1d50cecbe7b47ca8453d75690 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Wed, 7 Jul 2021 08:57:37 +0200 Subject: [PATCH 065/219] fix(docs): Fix typos (#517) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/environmental_effect_model.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/architecture/environmental_effect_model.adoc b/doc/architecture/environmental_effect_model.adoc index a27bc026e..17ddabf21 100644 --- a/doc/architecture/environmental_effect_model.adoc +++ b/doc/architecture/environmental_effect_model.adoc @@ -3,7 +3,7 @@ Environmental effect models consume sensor-view data and produce sensor-view data. Environmental effect models may, for example, include the following: -* Shadows and oclusion +* Shadows and occlusions * Weather effects * Physics of a sensor * Pre-processing of raw sensor data From 0b23babe0f9b3b0e72491e9ec511976074c84557 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 18 Jun 2021 16:59:33 +0200 Subject: [PATCH 066/219] feat(docs): Migrate version info (#532) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/open-simulation-interface_user_guide.adoc | 18 +++++- doc/releases/releases.adoc | 10 +--- doc/releases/{v02.00.rst => v02.00.adoc} | 28 ++++----- doc/releases/v02.01.adoc | 12 ++++ doc/releases/v02.01.rst | 14 ----- doc/releases/v02.02.adoc | 26 ++++++++ doc/releases/v02.02.rst | 30 ---------- doc/releases/v03.00.adoc | 56 +++++++++++++++++ doc/releases/v03.00.rst | 60 ------------------- doc/releases/v03.01.adoc | 33 ++++++++++ doc/releases/v03.01.rst | 37 ------------ doc/releases/v03.02.adoc | 42 +++++++++++++ doc/releases/v03.02.rst | 44 -------------- doc/releases/v03.03.adoc | 40 +++++++++++++ doc/releases/versioning.adoc | 42 ++++++++++--- 15 files changed, 273 insertions(+), 219 deletions(-) rename doc/releases/{v02.00.rst => v02.00.adoc} (81%) create mode 100644 doc/releases/v02.01.adoc delete mode 100644 doc/releases/v02.01.rst create mode 100644 doc/releases/v02.02.adoc delete mode 100644 doc/releases/v02.02.rst create mode 100644 doc/releases/v03.00.adoc delete mode 100644 doc/releases/v03.00.rst create mode 100644 doc/releases/v03.01.adoc delete mode 100644 doc/releases/v03.01.rst create mode 100644 doc/releases/v03.02.adoc delete mode 100644 doc/releases/v03.02.rst create mode 100644 doc/releases/v03.03.adoc diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index fc005232c..0c93a5efd 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -123,8 +123,22 @@ include::./misc/osi_reference.adoc[leveloffset=+1] == Releases and compatibility +include::./releases/versioning.adoc[leveloffset=+2] + include::./releases/releases.adoc[leveloffset=+2] -include::./releases/versioning.adoc[leveloffset=+2] +include::./releases/v02.00.adoc[leveloffset=+3] + +include::./releases/v02.01.adoc[leveloffset=+3] + +include::./releases/v02.02.adoc[leveloffset=+3] + +include::./releases/v03.00.adoc[leveloffset=+3] + +include::./releases/v03.01.adoc[leveloffset=+3] + +include::./releases/v03.02.adoc[leveloffset=+3] + +include::./releases/v03.03.adoc[leveloffset=+3] -include::./releases/compatibility.adoc[leveloffset=+2] +//include::./releases/compatibility.adoc[leveloffset=+2] diff --git a/doc/releases/releases.adoc b/doc/releases/releases.adoc index 3985840ee..1dab61829 100644 --- a/doc/releases/releases.adoc +++ b/doc/releases/releases.adoc @@ -1,11 +1,3 @@ = Releases -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. -Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +ss \ No newline at end of file diff --git a/doc/releases/v02.00.rst b/doc/releases/v02.00.adoc similarity index 81% rename from doc/releases/v02.00.rst rename to doc/releases/v02.00.adoc index a05d1dc29..8d8bffa7e 100644 --- a/doc/releases/v02.00.rst +++ b/doc/releases/v02.00.adoc @@ -1,25 +1,25 @@ -`v2.0.0 - OSI Initial Commit <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v2.0.0>`_ -============================ += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v2.0.0[v2.0.0 - OSI Initial Commit] + This is the initial version of the Open Simulation Interface (OSI). -Overview: ------------ +== Overview + OSI is a generic interface for the environmental perception of automated driving functions in virtual scenarios. It is primarily conceived to enable easy and straightforward compatibility between automated driving functions and the variety of driving simulation frameworks available. The data description has been derived from the perspective of sensor modeling for automated test and validation of highly automated driving functions. -Implementation: ----------------- -OSI primarily contains an object based environment description using the message format of the protocol buffers library developed and maintained by Google. +== Implementation -Detailed description: ---------------------- +OSI primarily contains an object based environment description using the message format of the protocol buffers library developed and maintained by Google. -**Top level interfaces**: -OSI consists of two individual top level interfaces for object data: The ``OSI::GroundTruth`` and the ``OSI::SensorData`` interface. +== Detailed description -- The ``OSI::GroundTruth`` interface provides an exact view on the simulated objects in a global coordinate system. This message is populated using the internally available data of the used (driving)-simulation framework and is afterwards published to external subscribers with an exporter plugin. -- The ``OSI::SensorData`` interface describes the objects in the reference frame of a sensor for environmental perception. It is generated from a ``OSI::GroundTruth`` message and can either be used to directly connect to an automated driving function using ideal simulated data, or may serve as input for a sensor model simulating limited perception as a replication of real world sensor behavior. +Top level interfaces:: +OSI consists of two individual top level interfaces for object data: The ``OSI::GroundTruth`` and the ``OSI::SensorData`` interface. ++ +* The ``OSI::GroundTruth`` interface provides an exact view on the simulated objects in a global coordinate system. This message is populated using the internally available data of the used (driving)-simulation framework and is afterwards published to external subscribers with an exporter plugin. +* The ``OSI::SensorData`` interface describes the objects in the reference frame of a sensor for environmental perception. It is generated from a ``OSI::GroundTruth`` message and can either be used to directly connect to an automated driving function using ideal simulated data, or may serve as input for a sensor model simulating limited perception as a replication of real world sensor behavior. -**Low level interfaces**: +Low level interfaces:: ++ Additionally to the two top level interfaces, OSI contains an ``OSI::LowLevelData`` message. This message describes the output of a (physical) model of the measurement process before tracking and object hypothesis. It does not deal with object data, but may comprise the geometrical influence of 3D simulations e.g. generating Lidar point clouds with a ray-tracer plugin. In addition this message supports generic radar reflection lists and will be extended to supporting low level camera data in the future. diff --git a/doc/releases/v02.01.adoc b/doc/releases/v02.01.adoc new file mode 100644 index 000000000..005e4e1ac --- /dev/null +++ b/doc/releases/v02.01.adoc @@ -0,0 +1,12 @@ += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v2.1.0[v2.1.0 - OSI "Agile Andretti"] + +== Purpose + +This is the initial BASE VERSION for Tool Development. + +https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/1?closed=1[Content/Changes] + +== Remarks + +We will now release the versions using the name of a https://en.wikipedia.org/wiki/List_of_Formula_One_drivers[Formula 1 driver]! +Naming convention: "adjective + last name driver" -> Alliteration necessary! \ No newline at end of file diff --git a/doc/releases/v02.01.rst b/doc/releases/v02.01.rst deleted file mode 100644 index d49efb46a..000000000 --- a/doc/releases/v02.01.rst +++ /dev/null @@ -1,14 +0,0 @@ -`v2.1.0 - OSI "Agile Andretti" <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v2.1.0>`_ -=============================== - -Purpose: ----------- -This is the initial BASE VERSION for Tool Development. - -`Content/Changes <https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/1?closed=1>`_: ------------------------------------------------------------------------------------------------------------------ - -Remarks: ------------ -We will now release the versions using the name of a `Formula 1 driver <https://en.wikipedia.org/wiki/List_of_Formula_One_drivers>`_! -Naming convention: "adjective + last name driver" -> Alliteration necessary! \ No newline at end of file diff --git a/doc/releases/v02.02.adoc b/doc/releases/v02.02.adoc new file mode 100644 index 000000000..a0ef709e7 --- /dev/null +++ b/doc/releases/v02.02.adoc @@ -0,0 +1,26 @@ += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v2.2.0[v2.2.0 - OSI "Brave Brabham"] + +== Purpose + +This release focuses on optimizing the build process and documentation. + +== https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/2?closed=1[Content/Changes] + +* Added a shared library target to the CMake build script. +* Generated a proper doxygen documentation. +* Placed the version number in one file (VERSION). +* Added unit testing mechanism including style guide checking. +* Redefined precipitation and added a fog definition to the environmental conditions message. +* Added layer id to low level point cloud data. +* Reworked large parts of the build instructions in the WIKI. + += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v2.2.1[v2.2.1 - OSI "Brave Brabham", Update 1] + +== Purpose + +This release focuses on optimizing the build process and ensures the proper installation of different versions of OSI on a single system. + +== https://github.com/OpenSimulationInterface/open-simulation-interface/compare/maintenance/v2.2.x[Content/Changes] + +* Allowing several OSI versions on the same computer. +* Improves CI builds to also test the installation cmake targets for proper completion. diff --git a/doc/releases/v02.02.rst b/doc/releases/v02.02.rst deleted file mode 100644 index 1fadf92e2..000000000 --- a/doc/releases/v02.02.rst +++ /dev/null @@ -1,30 +0,0 @@ -`v2.2.0 - OSI "Brave Brabham" <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v2.2.0>`_ -============================== - -Purpose: ---------- -This release focuses on optimizing the build process and documentation. - -`Content/Changes <https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/2?closed=1>`_: ------------------------------------------------------------------------------------------------------------------------ - -- Added a shared library target to the CMake build script. -- Generated a proper doxygen documentation. -- Placed the version number in one file (VERSION). -- Added unit testing mechanism including style guide checking. -- Redefined precipitation and added a fog definition to the environmental conditions message. -- Added layer id to low level point cloud data. -- Reworked large parts of the build instructions in the WIKI. - -`v2.2.1 - OSI "Brave Brabham", Update 1 <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v2.2.1>`_ -======================================== - -Purpose: ---------- -This release focuses on optimizing the build process and ensures the proper installation of different versions of OSI on a single system. - -`Content/Changes <https://github.com/OpenSimulationInterface/open-simulation-interface/compare/maintenance/v2.2.x>`_: ------------------------------------------------------------------------------------------------------------------------ - -- Allowing several OSI versions on the same computer. -- Improves CI builds to also test the installation cmake targets for proper completion. diff --git a/doc/releases/v03.00.adoc b/doc/releases/v03.00.adoc new file mode 100644 index 000000000..c9b0b85db --- /dev/null +++ b/doc/releases/v03.00.adoc @@ -0,0 +1,56 @@ += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.0.0[v3.0.0 - OSI "Cosmic Coulthard"] + +== Purpose + +This release is a complete rework including the feedback from many OSI users. Thank you! +We are aligned with the ongoing discussions for the upcoming ISO 23150 standard for hardware sensor outputs in order to bring simulation and the hardware in the car closer together. + +https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.0[Content/Changes] + +* Added major version to package label (osi3), allowing concurrent use of OSI 2.x and OSI 3.x in one process. +* Added new top-level messages (new concept SensorView (Configuration),etc.). +** GroundTruth. +** SensorView. +** SensorData / FeatureData. +** SensorViewConfiguration (used for auto-configuration of SensorView). +* Added technology-specific SensorView sub-messages to aid physical models. +* Introduced conceptual separation of “SensorModels” and “LogicModels”. +* Extended enumerations (e.g. traffic sign Type according to StVO, vehicle Type, etc.). +* Improved messages and definitions (additional RoadConditions, country code in GT, AmbientIllumination, etc.). +* Use ISO 8855 coordinate systems (incompatible with earlier OSI versions). +* Redefined DetectedXXX messages. +* Introduced DetectedStationaryObjects. +* Merged MovingObjects and Vehicle messages. +* Redefined Lane messages (with separated lane boundary messages and intersections). +* Redefined TrafficLight messages. +* Redefined TrafficSigns (1 x MainSign + n x SupplementarySign inclusive BaseStationary). +* New FeatureData messages (rework of previous LowLevelData message) - aligned with an upcoming standard ISO 23150. +* FeatureData usable for fusion units. +* Extension and clarification of the existing doxygen documentation. +* Improved doxygen collaboration diagrams. +* Build process improvements, added install targets. +* Made proto definitions compatible with proto3 restrictions to allow concurrent use with proto3-only implementations in the future. +* Fixed version-checking of transmitted data. +* AND MUCH MORE ENJOY!!! + +https://github.com/OpenSimulationInterface/open-simulation-interface/files/2297162/osi_overview_v2.2_vs_v3.0.pdf>[See for more information the `changelog`] + += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.0.1[v3.0.1 - OSI "Cosmic Coulthard", Update 1] + +https://www.youtube.com/watch?v=yG0oBPtyNb0[Summertime :)] + +== Purpose + +This release is a patch reworking parts of the documentation in order to avoid ambiguities and improving the build/installation process of OSI. + +https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.1[Content/Changes] + +* Added script to automatically convert the messages from proto2 to proto3 with on the wire compatibility +* cmake enhancements to enable multi-version support of OSI 2 and OSI 3 +* Added Python 3 support +* Clarification of multiple comments +* Added explanatory images in the documentation +* centerline definition improved +* signal_strength definition in LidarSensorView corrected +* FeatureData::ambiguity_id definition clarified +* RadarSensorViewConfiguration::AntennaDiagram::response definition clarified diff --git a/doc/releases/v03.00.rst b/doc/releases/v03.00.rst deleted file mode 100644 index 7f4706549..000000000 --- a/doc/releases/v03.00.rst +++ /dev/null @@ -1,60 +0,0 @@ -`v3.0.0 - OSI "Cosmic Coulthard" <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.0.0>`_ -================================= - -Purpose: ---------- -This release is a complete rework including the feedback from many OSI users. Thank you! -We are aligned with the ongoing discussions for the upcoming ISO 23150 standard for hardware sensor outputs in order to bring simulation and the hardware in the car closer together. - -`Content/Changes <https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.0>`_: ---------------------------------------------------------------------------------------------------------------------------------------------------- - -- Added major version to package label (osi3), allowing concurrent use of OSI 2.x and OSI 3.x in one process. -- Added new top-level messages (new concept SensorView (Configuration),etc.). - - GroundTruth. - - SensorView. - - SensorData / FeatureData. - - SensorViewConfiguration (used for auto-configuration of SensorView). -- Added technology-specific SensorView sub-messages to aid physical models. -- Introduced conceptual separation of “SensorModels” and “LogicModels”. -- Extended enumerations (e.g. traffic sign Type according to StVO, vehicle Type, etc.). -- Improved messages and definitions (additional RoadConditions, country code in GT, AmbientIllumination, etc.). -- Use ISO 8855 coordinate systems (incompatible with earlier OSI versions). -- Redefined DetectedXXX messages. -- Introduced DetectedStationaryObjects. -- Merged MovingObjects and Vehicle messages. -- Redefined Lane messages (with separated lane boundary messages and intersections). -- Redefined TrafficLight messages. -- Redefined TrafficSigns (1 x MainSign + n x SupplementarySign inclusive BaseStationary). -- New FeatureData messages (rework of previous LowLevelData message) - aligned with an upcoming standard ISO 23150. -- FeatureData usable for fusion units. -- Extension and clarification of the existing doxygen documentation. -- Improved doxygen collaboration diagrams. -- Build process improvements, added install targets. -- Made proto definitions compatible with proto3 restrictions to allow concurrent use with proto3-only implementations in the future. -- Fixed version-checking of transmitted data. -- AND MUCH MORE ENJOY!!! - -See for more information the `changelog <https://github.com/OpenSimulationInterface/open-simulation-interface/files/2297162/osi_overview_v2.2_vs_v3.0.pdf>`_. - -`v3.0.1 - OSI "Cosmic Coulthard", Update 1 <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.0.1>`_ -========================================== - -`Summertime :) <https://www.youtube.com/watch?v=yG0oBPtyNb0>`_ - -Purpose: ---------- -This release is a patch reworking parts of the documentation in order to avoid ambiguities and improving the build/installation process of OSI. - -`Content/Changes <https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.1>`_: ---------------------------------------------------------------------------------------------------------------------------------------------------- - -- Added script to automatically convert the messages from proto2 to proto3 with on the wire compatibility -- cmake enhancements to enable multi-version support of OSI 2 and OSI 3 -- Added Python 3 support -- Clarification of multiple comments -- Added explanatory images in the documentation -- centerline definition improved -- signal_strength definition in LidarSensorView corrected -- FeatureData::ambiguity_id definition clarified -- RadarSensorViewConfiguration::AntennaDiagram::response definition clarified diff --git a/doc/releases/v03.01.adoc b/doc/releases/v03.01.adoc new file mode 100644 index 000000000..5f1487925 --- /dev/null +++ b/doc/releases/v03.01.adoc @@ -0,0 +1,33 @@ += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.1.0[v3.1.0 - OSI "Dynamic Duncan"] + +https://www.youtube.com/watch?v=fu3uA8K6ApQ>[(O SI)lent night] + +== Purpose + +This time of the year Santa comes with presents and has also thought about the sensor modelers of this planet. We introduce the current state of the ISO 23150 discussions including Ultrasonic and Camera Detections. The traffic signs have been reworked and the documentation has been extended for a perfect user experience. Trust me - it's amazing! + +== https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.0>[Content/Changes] + +* Complete rework of traffic signs including images in documentation. +* Added Camera Detections in osi_featuredata.proto. +* Added Ultrasonic Detections in osi_featuredata.proto. +* Introduced light states for emergency and service vehicles. +* Added orientation_acceleration and updated formulas. +* Extended documentation with svg images. +* Added model_reference for static and moving objects. +* Added map_reference in ground truth. +* Added proj4 string for coordinate transformations. +* Introduced raster_lidar_proposal from innoviz. +* Improved documentation with HTML tables and images for all traffic signs. + += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.1.1[v3.1.1 - OSI "Dynamic Duncan", Update 1] + +== https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.1[Content/Changes] + +* **Bug Fix**: Changed open_simulation_interface target back from being a static library to a shared library, as before (this reverts an inadvertent change in v3.1.0 from previous releases). v3.1.0 breaks all users of the shared library (i.e. everyone building on Linux/Unix systems, and even some using the DLL on Windows). + += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.1.2[v3.1.2 - OSI "Dynamic Duncan", Update 2] + +== https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.2[Content/Changes] + +* **Bugfix**: The version number is now correct in the VERSION file. diff --git a/doc/releases/v03.01.rst b/doc/releases/v03.01.rst deleted file mode 100644 index 149663d97..000000000 --- a/doc/releases/v03.01.rst +++ /dev/null @@ -1,37 +0,0 @@ -`v3.1.0 - OSI "Dynamic Duncan" <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.1.0>`_ -============================== - -`(O SI)lent night <https://www.youtube.com/watch?v=fu3uA8K6ApQ>`_ - -Purpose: ---------- -This time of the year Santa comes with presents and has also thought about the sensor modelers of this planet. We introduce the current state of the ISO 23150 discussions including Ultrasonic and Camera Detections. The traffic signs have been reworked and the documentation has been extended for a perfect user experience. Trust me - it's amazing! - -`Content/Changes <https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.0>`_: ---------------------------------------------------------------------------------------------------------------------------------------------- - -- Complete rework of traffic signs including images in documentation. -- Added Camera Detections in osi_featuredata.proto. -- Added Ultrasonic Detections in osi_featuredata.proto. -- Introduced light states for emergency and service vehicles. -- Added orientation_acceleration and updated formulas. -- Extended documentation with svg images. -- Added model_reference for static and moving objects. -- Added map_reference in ground truth. -- Added proj4 string for coordinate transformations. -- Introduced raster_lidar_proposal from innoviz. -- Improved documentation with HTML tables and images for all traffic signs. - -`v3.1.1 - OSI "Dynamic Duncan", Update 1 <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.1.1>`_ -========================================== - -`Content/Changes <https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.1>`_: ---------------------------------------------------------------------------------------------------------------------------------------------- -- **Bug Fix**: Changed open_simulation_interface target back from being a static library to a shared library, as before (this reverts an inadvertent change in v3.1.0 from previous releases). v3.1.0 breaks all users of the shared library (i.e. everyone building on Linux/Unix systems, and even some using the DLL on Windows). - -`v3.1.2 - OSI "Dynamic Duncan", Update 2 <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.1.2>`_ -========================================== - -`Content/Changes <https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.2>`_: ------------------ -- **Bugfix**: The version number is now correct in the VERSION file. diff --git a/doc/releases/v03.02.adoc b/doc/releases/v03.02.adoc new file mode 100644 index 000000000..02b6abf01 --- /dev/null +++ b/doc/releases/v03.02.adoc @@ -0,0 +1,42 @@ += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.2.0[v3.2.0 - OSI "Editorial Eaton"] + +https://www.youtube.com/watch?v=SJUhlRoBL8M[Think p(OSI)tive!] + + + +== Purpose + +The work on the OSI project was until now mainly organized by the BMW AG. In order to enable as many interested parties as possible to +contribute to the success of the Open Simulation Interface the project has been transferred to the https://www.asam.net/[ASAM e.V.] +which has been made public in the https://www.asam.net/news-media/news/detail/news/bmw-transfers-open-simulation-interface-osi-to-asam/[ASAM press release]. +A new chapter in the development of OSI is now opened with the https://www.asam.net/conferences-events/detail/asam-osi-kick-off-workshop/[kickoff workshop] +leading to hopefully many project proposals streamlining the efficient future development of the interface. +Due to this we decided to focus on the improvement of processes and documentation with this release. + +== https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.2.0[Content/Changes] + + +* Updated README according to K(eep) I(t) S(imply) S(tupid) principle +* Added Issue and Pullrequest templates +* Travis CI updated +** Update to bionic 18.04 +** Added tests for building protobuf 2.6 and 3.0 in parallel +** Bugfixed the display of doubled documentation +* Fixed several typos in the comments +* Added a centralized documentation in https://github.com/OpenSimulationInterface/osi-documentation[OSI-Documentation] +** Added contributors guidelines +** Added commenting style guidelines +** Added uniform citation style according to APA +** Updated installation guides for osi in Linux and Windows +** Added a reference in sphinx based on the generated doxygen documentation +* Added rules to the comments in order to enforce osi message validation with the https://github.com/OpenSimulationInterface/osi-validation[OSI-Validator] +* Added the rule definitions in the rules.yml +* Modularized testing of commenting style into python unit tests +* Defined a standardazied a file format for reading trace files (*.osi) +* Defined naming conventions of osi files +* Added a *.txt to *.osi file converter for backward compatibility +* Added a script to make traces readable for plausibility checks +* Corrected the citing style for OSI Bibtex +* Corrected unit specifications and references according to DIN (e.g. removed Unit: []) +* Added timestamp in osi_environment +* Added is_out_of_service bool to traffic light / traffic sign diff --git a/doc/releases/v03.02.rst b/doc/releases/v03.02.rst deleted file mode 100644 index b0342fbb3..000000000 --- a/doc/releases/v03.02.rst +++ /dev/null @@ -1,44 +0,0 @@ -`v3.2.0 - OSI "Editorial Eaton" <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.2.0>`_ -============================== - -`Think p(OSI)tive! <https://www.youtube.com/watch?v=SJUhlRoBL8M>`_ - -Purpose: ---------- -The work on the OSI project was until now mainly organized by the BMW AG. In order to enable as many interested parties as possible to -contribute to the success of the Open Simulation Interface the project has been transferred to the `ASAM e.V. <https://www.asam.net/>`_ -which has been made public in the `ASAM press release <https://www.asam.net/news-media/news/detail/news/bmw-transfers-open-simulation-interface-osi-to-asam/>`_. -A new chapter in the development of OSI is now opened with the `kickoff workshop <https://www.asam.net/conferences-events/detail/asam-osi-kick-off-workshop/>`_ -leading to hopefully many project proposals streamlining the efficient future development of the interface. -Due to this we decided to focus on the improvement of processes and documentation with this release. - -`Content/Changes <https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.2.0>`_: ---------------------------------------------------------------------------------------------------------------------------------------------- - -- Updated README according to K(eep) I(t) S(imply) S(tupid) principle -- Added Issue and Pullrequest templates -- Travis CI updated - - Update to bionic 18.04 - - Added tests for building protobuf 2.6 and 3.0 in parallel - - Bugfixed the display of doubled documentation -- Fixed several typos in the comments - -- Added a centralized documentation in `OSI-Documentation <https://github.com/OpenSimulationInterface/osi-documentation>`_ - - Added contributors guidelines - - Added commenting style guidelines - - Added uniform citation style according to APA - - Updated installation guides for osi in Linux and Windows - - Added a reference in sphinx based on the generated doxygen documentation - -- Added rules to the comments in order to enforce osi message validation with the `OSI-Validator <https://github.com/OpenSimulationInterface/osi-validation>`_ -- Added the rule definitions in the rules.yml -- Modularized testing of commenting style into python unit tests -- Defined a standardazied a file format for reading trace files (*.osi) -- Defined naming conventions of osi files -- Added a *.txt to *.osi file converter for backward compatibility -- Added a script to make traces readable for plausibility checks -- Corrected the citing style for OSI Bibtex -- Corrected unit specifications and references according to DIN (e.g. removed Unit: []) - -- Added timestamp in osi_environment -- Added is_out_of_service bool to traffic light / traffic sign diff --git a/doc/releases/v03.03.adoc b/doc/releases/v03.03.adoc new file mode 100644 index 000000000..8e46a2627 --- /dev/null +++ b/doc/releases/v03.03.adoc @@ -0,0 +1,40 @@ += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.3.0[v3.3.0 - OSI "Fabulous Fangio"] + +Stay p(OSI)tive! + +== Purpose + +As a part of the increasing adoption of OSI in the industry, and its movement to ASAM as its home, +several new use cases and extensions for OSI have been identified. +This minor release highlights the work that has been done on several working packages including +the introduction of brand new top level messages which extend OSI's scope beyond the specialized world of sensor modeling. + +== https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/13?closed=1[Content/Changes] + +* Introduced the TrafficCommand top-level message which enables event-based control of traffic participant models, e.g. with regard to a scenario specification. +* Introduced the TrafficUpdate top-level message to send updated properties of traffic participant models. +* Add new LogicalDetectionData message to SensorData, which provides detection data with respect to the reference frame of the logical/virtual sensor. +* Added a new submessage to further specify wheel data. +* Added a new field to support future trajectories of moving objects. +* Added a new subtype message to osi_lane to better align with OpenDrive's lane type information and enable traffic participant models to identify lanes on which they are supposed to move. +* Extended traffic lights and signs messages to include the model_references attribute that can be used to point out to a 3D-model. +* Add global model reference to ground truth that can be used to specify the 3D model representing the environment. +* Extended the camera sensor view configuration to better support the configuration of the simulation environment. +* Added a new field to describe the position of the steering wheel. +* Added a message MovingObjectClassification for classify-able attributes that are shared between different moving object types. Introduced the assigned lane id and the assigned lane percentage of a moving object there. + +* Updated to checklist for pull requests to provide clearer orientation for all users. +* Updated the documentation of centerline and lane boundaries (ordering of the points, describing those lines). +* Updated the documentation of 3D bounding boxes. +* Update the documentation of ground clearance. + +* Make handling of enums in rules check more robust, especially ones. +* Set the default compiler to C++ 11 to support protobuf>3.6. + += https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.3.1[v3.3.1 - OSI "Fabulous Fangio", Update 1] + +== https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/18?closed=1[Content/Changes] + + +* **Bug Fix**: Fixed outdated version information in VERSION file in 3.3.0. This lead to wrong versioning in proto definitions and Doxygen documentation. +* **Bug Fix**: Removed outdated picture in README.md. diff --git a/doc/releases/versioning.adoc b/doc/releases/versioning.adoc index b45d386c6..1e38c71f6 100644 --- a/doc/releases/versioning.adoc +++ b/doc/releases/versioning.adoc @@ -1,11 +1,35 @@ = Versioning -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. -Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +The version number is defined in `InterfaceVersion::version_number` in `osi_common.proto` as the field’s default value. + +OSI uses https://semver.org/[Semantic Versioning]. + +Major:: +A change of the major version results in an incompatibility of code and recorded proto messages. ++ +Major changes include: ++ +* An existing field with a number changes its meaning. +Example: `optional double field = 1;` -> `repeated double field = 1;`. +* Changing the definition of units or interpretation of a field. +* Deleting a field and reusing the field number. +* Changing the technology ProtoBuffer -> FlatBuffer. + +Minor:: +A change of the minor version indicates remaining compatibility to previously recorded files. +The code on the other hand needs fixing. ++ +Minor changes include: ++ +* Renaming a field without changing the field number. +* Changing the names of messages. +* Adding a new field in a message without changing the numbering of other fields. + +Patch:: +The compatibility of both recorded files and code remains. ++ +Patches include: ++ +* File or folder structure which does not affect including the code in other projects. +* Changing or adding comments. +* Clarification of text passages explaining the message content. From be2f0d3a8d02e601e56858fc08931fe3f2a6b7d7 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Thu, 24 Jun 2021 10:07:56 +0200 Subject: [PATCH 067/219] fix(docs): Remove stray characters (#532) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/releases/releases.adoc | 2 -- 1 file changed, 2 deletions(-) diff --git a/doc/releases/releases.adoc b/doc/releases/releases.adoc index 1dab61829..88d8f4619 100644 --- a/doc/releases/releases.adoc +++ b/doc/releases/releases.adoc @@ -1,3 +1 @@ = Releases - -ss \ No newline at end of file From 60061f8f250f7971bbe5310a566bed79e844de9b Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Thu, 24 Jun 2021 10:40:49 +0200 Subject: [PATCH 068/219] fix(docs): Fix whitespace and missing header markup (#532) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/releases/v03.00.adoc | 4 ++-- doc/releases/v03.01.adoc | 8 ++++++-- doc/releases/v03.02.adoc | 9 ++------- doc/releases/v03.03.adoc | 7 ++----- 4 files changed, 12 insertions(+), 16 deletions(-) diff --git a/doc/releases/v03.00.adoc b/doc/releases/v03.00.adoc index c9b0b85db..a1085ab6c 100644 --- a/doc/releases/v03.00.adoc +++ b/doc/releases/v03.00.adoc @@ -5,7 +5,7 @@ This release is a complete rework including the feedback from many OSI users. Thank you! We are aligned with the ongoing discussions for the upcoming ISO 23150 standard for hardware sensor outputs in order to bring simulation and the hardware in the car closer together. -https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.0[Content/Changes] +== https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.0[Content/Changes] * Added major version to package label (osi3), allowing concurrent use of OSI 2.x and OSI 3.x in one process. * Added new top-level messages (new concept SensorView (Configuration),etc.). @@ -43,7 +43,7 @@ https://www.youtube.com/watch?v=yG0oBPtyNb0[Summertime :)] This release is a patch reworking parts of the documentation in order to avoid ambiguities and improving the build/installation process of OSI. -https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.1[Content/Changes] +== https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.1[Content/Changes] * Added script to automatically convert the messages from proto2 to proto3 with on the wire compatibility * cmake enhancements to enable multi-version support of OSI 2 and OSI 3 diff --git a/doc/releases/v03.01.adoc b/doc/releases/v03.01.adoc index 5f1487925..1835671b7 100644 --- a/doc/releases/v03.01.adoc +++ b/doc/releases/v03.01.adoc @@ -4,7 +4,10 @@ https://www.youtube.com/watch?v=fu3uA8K6ApQ>[(O SI)lent night] == Purpose -This time of the year Santa comes with presents and has also thought about the sensor modelers of this planet. We introduce the current state of the ISO 23150 discussions including Ultrasonic and Camera Detections. The traffic signs have been reworked and the documentation has been extended for a perfect user experience. Trust me - it's amazing! +This time of the year Santa comes with presents and has also thought about the sensor modelers of this planet. +We introduce the current state of the ISO 23150 discussions including Ultrasonic and Camera Detections. +The traffic signs have been reworked and the documentation has been extended for a perfect user experience. +Trust me - it's amazing! == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.0>[Content/Changes] @@ -24,7 +27,8 @@ This time of the year Santa comes with presents and has also thought about the s == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.1[Content/Changes] -* **Bug Fix**: Changed open_simulation_interface target back from being a static library to a shared library, as before (this reverts an inadvertent change in v3.1.0 from previous releases). v3.1.0 breaks all users of the shared library (i.e. everyone building on Linux/Unix systems, and even some using the DLL on Windows). +* **Bug Fix**: Changed open_simulation_interface target back from being a static library to a shared library, as before (this reverts an inadvertent change in v3.1.0 from previous releases). +v3.1.0 breaks all users of the shared library (i.e. everyone building on Linux/Unix systems, and even some using the DLL on Windows). = https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.1.2[v3.1.2 - OSI "Dynamic Duncan", Update 2] diff --git a/doc/releases/v03.02.adoc b/doc/releases/v03.02.adoc index 02b6abf01..8927ba80d 100644 --- a/doc/releases/v03.02.adoc +++ b/doc/releases/v03.02.adoc @@ -2,15 +2,10 @@ https://www.youtube.com/watch?v=SJUhlRoBL8M[Think p(OSI)tive!] - - == Purpose -The work on the OSI project was until now mainly organized by the BMW AG. In order to enable as many interested parties as possible to -contribute to the success of the Open Simulation Interface the project has been transferred to the https://www.asam.net/[ASAM e.V.] -which has been made public in the https://www.asam.net/news-media/news/detail/news/bmw-transfers-open-simulation-interface-osi-to-asam/[ASAM press release]. -A new chapter in the development of OSI is now opened with the https://www.asam.net/conferences-events/detail/asam-osi-kick-off-workshop/[kickoff workshop] -leading to hopefully many project proposals streamlining the efficient future development of the interface. +The work on the OSI project was until now mainly organized by the BMW AG. In order to enable as many interested parties as possible to contribute to the success of the Open Simulation Interface the project has been transferred to the https://www.asam.net/[ASAM e.V.] which has been made public in the https://www.asam.net/news-media/news/detail/news/bmw-transfers-open-simulation-interface-osi-to-asam/[ASAM press release]. +A new chapter in the development of OSI is now opened with the https://www.asam.net/conferences-events/detail/asam-osi-kick-off-workshop/[kickoff workshop] leading to hopefully many project proposals streamlining the efficient future development of the interface. Due to this we decided to focus on the improvement of processes and documentation with this release. == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.2.0[Content/Changes] diff --git a/doc/releases/v03.03.adoc b/doc/releases/v03.03.adoc index 8e46a2627..5cd75b0b9 100644 --- a/doc/releases/v03.03.adoc +++ b/doc/releases/v03.03.adoc @@ -4,10 +4,8 @@ Stay p(OSI)tive! == Purpose -As a part of the increasing adoption of OSI in the industry, and its movement to ASAM as its home, -several new use cases and extensions for OSI have been identified. -This minor release highlights the work that has been done on several working packages including -the introduction of brand new top level messages which extend OSI's scope beyond the specialized world of sensor modeling. +As a part of the increasing adoption of OSI in the industry, and its movement to ASAM as its home, several new use cases and extensions for OSI have been identified. +This minor release highlights the work that has been done on several working packages including the introduction of brand new top level messages which extend OSI's scope beyond the specialized world of sensor modeling. == https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/13?closed=1[Content/Changes] @@ -35,6 +33,5 @@ the introduction of brand new top level messages which extend OSI's scope beyond == https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/18?closed=1[Content/Changes] - * **Bug Fix**: Fixed outdated version information in VERSION file in 3.3.0. This lead to wrong versioning in proto definitions and Doxygen documentation. * **Bug Fix**: Removed outdated picture in README.md. From c7324ea71763c315032c6551c73aa6f81681621f Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 18 Jun 2021 17:23:24 +0200 Subject: [PATCH 069/219] feat(docs): Add architecture overview (#534) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/architecture_overview.adoc | 34 ++++++++++++++------ doc/images/osi-context.png | Bin 0 -> 28730 bytes 2 files changed, 25 insertions(+), 9 deletions(-) create mode 100644 doc/images/osi-context.png diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 0bbbe8e05..0f1b5c267 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -1,11 +1,27 @@ = Overview of OSI architecture -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. -Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +OSI contains an object-based environment description using the message format of the https://github.com/protocolbuffers/protobuf/wiki[Protocol Buffer] library developed and maintained by Google. +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 ``SensorView``, ``SensorViewConfiguration`` and ``FeatureData`` interfaces. + +The following figure shows the interfaces and models involved in modeling a sensor. + +.Open Simulation Interface overview +image::osi-context.png[1100] + + +OSI also defines interfaces for traffic participant models. +These interfaces allow to send commands to traffic participant models and to receive their updated state. +The following figure shows the interfaces of a generic traffic participant. + +.Interface of a traffic participant +image::osi-traffic-participant-principle.png[1100] + +Traffic participant models may use other OSI interfaces internally, for example, to model autonomous vehicles. +The following figure shows a more advanced use case for traffic participants. + +.Traffic participant with sensor models, AD function, and dynamic model +image::osi-traffic-participant-advanced.png[1100] + +OSI currently provides only limited support for data structures describing measured internal states of the traffic participant. +Actuator intentions are currently not covered by OSI and must be handled with a different data description format. diff --git a/doc/images/osi-context.png b/doc/images/osi-context.png new file mode 100644 index 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z+1tn!SCqmPWijdGTm_}>HQ3kOoEhwH#-V2T2aH}`V=m3?gj|irn1Wm(#@&>w+L^2H z_7J=sH#CY*x5wK>aYJFap}lynfts>3%02xdnZbAf1>#OX>ovvK8|^J%%0O@%*1;YO zwJ~U>X&b9Fe!uoo9kVUoM)J7WZrq|kubjhAZbFkwimnM?!9{gOmYA_EZ4GX>7&Zvd z@7(U)N<+@W93TcQ5)5o;pb(Xvoi<upW}f=b`;;nP**_TsVO2-B8Z@>vM1ZzQzAV=2 z%kbFLdqkHPU@Gq><cX_W;OdDwBPr`J5L@x#y7=(rm@W%>w<ogG-03Uik9&TwGZ`H9 za$HOmD5}oNF2O5Id*yP9XK=qJH<_%VAq?a}-I4LkEL=2wOY`K{(44dYdJ4t!##+jt z-rPjqO2hKLjJ&|l67;G47LsREDZZX!YtOC0Ln^rm<*zBa)`pRD-Zzq>i~-$<@1y3G k^?wzv|LK3yIrwEkWODYD)W=73@+>snL;JG#oVfhI0L+PFO8@`> literal 0 HcmV?d00001 From 8e995ccd206e66c834eedefac36b327c2c00c5d2 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 18 Jun 2021 17:33:35 +0200 Subject: [PATCH 070/219] feat(docs): Add content about interface fields as found in original docs (#534) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/architecture_overview.adoc | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 0f1b5c267..b7938a906 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -25,3 +25,12 @@ image::osi-traffic-participant-advanced.png[1100] OSI currently provides only limited support for data structures describing measured internal states of the traffic participant. Actuator intentions are currently not covered by OSI and must be handled with a different data description format. + +All fields in an interface are set to optional and required is not used. +This has been done to allow backward compatible changes in the field. +Additionally, this is the default behavior in protobuf version 3 that does no longer have the required type and therefore ensures update compatibility. +However, this does not mean that filling the field is optional. +For the purpose of providing a complete interface, all existing fields should be set, unless not setting a field carries a specific meaning as indicated in the accompanying comment. + +All field numbers of 10000 and upward are available for user-specific extensions via custom fields. +Therefore, no future evolution of OSI will use field numbers of 10000 or above. \ No newline at end of file From 13815d095ba0500205a296d7217af9bd8a5258e9 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Thu, 24 Jun 2021 11:47:00 +0200 Subject: [PATCH 071/219] fix(docs): Improve text quality (#534) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/architecture_overview.adoc | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index b7938a906..6613a475b 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -26,11 +26,12 @@ image::osi-traffic-participant-advanced.png[1100] OSI currently provides only limited support for data structures describing measured internal states of the traffic participant. Actuator intentions are currently not covered by OSI and must be handled with a different data description format. -All fields in an interface are set to optional and required is not used. -This has been done to allow backward compatible changes in the field. -Additionally, this is the default behavior in protobuf version 3 that does no longer have the required type and therefore ensures update compatibility. +All fields in an interface are set to `optional`. +`required` is not used. +This has been done to allow backward-compatible changes in the field. +Additionally, this is the default behavior in Protocol Buffer version 3 that does no longer have the `required` type and therefore ensures update compatibility. However, this does not mean that filling the field is optional. For the purpose of providing a complete interface, all existing fields should be set, unless not setting a field carries a specific meaning as indicated in the accompanying comment. -All field numbers of 10000 and upward are available for user-specific extensions via custom fields. -Therefore, no future evolution of OSI will use field numbers of 10000 or above. \ No newline at end of file +All field numbers equal to or greater than 10000 are available for user-specific extensions via custom fields. +Therefore, no future evolution of OSI will use field numbers equal to or greater than 10000. \ No newline at end of file From fc311304673ae6dd9b53aa9378cd56fa174ff1d5 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Wed, 7 Jul 2021 15:31:53 +0200 Subject: [PATCH 072/219] feat(docs): Add traffic command, traffic update and host vehicle data to description (#534) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/architecture_overview.adoc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 6613a475b..5e54b6c1e 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -11,7 +11,8 @@ image::osi-context.png[1100] OSI also defines interfaces for traffic participant models. -These interfaces allow to send commands to traffic participant models and to receive their updated state. +The ``TrafficCommand`` interface allows to send commands to traffic participant models. +The ``TrafficUpdate`` interface allows to receive their updated state. The following figure shows the interfaces of a generic traffic participant. .Interface of a traffic participant @@ -23,7 +24,8 @@ The following figure shows a more advanced use case for traffic participants. .Traffic participant with sensor models, AD function, and dynamic model image::osi-traffic-participant-advanced.png[1100] -OSI currently provides only limited support for data structures describing measured internal states of the traffic participant. +The ``HostVehicleData`` interface describes the measured internal states of a traffic participant +OSI currently provides only limited support for data structures describing measured internal states traffic participants. Actuator intentions are currently not covered by OSI and must be handled with a different data description format. All fields in an interface are set to `optional`. From 7aecc076c0baa50bb6995d916157246ab4ce79af Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 18 Jun 2021 17:41:41 +0200 Subject: [PATCH 073/219] feat(docs): Add link to reference documentation (#531) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/misc/osi_reference.adoc | 14 +++----------- 1 file changed, 3 insertions(+), 11 deletions(-) diff --git a/doc/misc/osi_reference.adoc b/doc/misc/osi_reference.adoc index 0f0224886..36f83a1ef 100644 --- a/doc/misc/osi_reference.adoc +++ b/doc/misc/osi_reference.adoc @@ -1,13 +1,5 @@ = Reference documentation -TODO: Add link to the doxygen reference documentation. - -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. -Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +The reference documentation for OSI is generated with Doxygen. +It is available at: +https://opensimulationinterface.github.io/open-simulation-interface/annotated.html From 303365b771473141c63b5e8fe0c9901397619866 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Thu, 24 Jun 2021 13:53:14 +0200 Subject: [PATCH 074/219] feat(docs): Add very short vision document (#540) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/misc/osi_vision.adoc | 15 +++++---------- 1 file changed, 5 insertions(+), 10 deletions(-) diff --git a/doc/misc/osi_vision.adoc b/doc/misc/osi_vision.adoc index fec1c1f8b..7e69c2273 100644 --- a/doc/misc/osi_vision.adoc +++ b/doc/misc/osi_vision.adoc @@ -1,11 +1,6 @@ -= The vision of Open Simulation Interface += The idea of Open Simulation Interface -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. -Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +The Open Simulation Interface (OSI) is a specification for interfaces between models and components of a distributed simulation. +OSI uses Google's Protocol Buffers. +OSI has a strong focus on environmental perception of automated driving functions. +However, OSI also specifies interfaces for modeling traffic participants. \ No newline at end of file From d5f213399ef94b9eb851ac673e29e25c67e94490 Mon Sep 17 00:00:00 2001 From: Stefan Cyliax <stefan.cyliax@asam.net> Date: Thu, 8 Jul 2021 16:50:02 +0200 Subject: [PATCH 075/219] fixed image includes and rendering with aciidoctor MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .gitmodules | 3 ++ asciidoc-resources | 1 + doc/architecture/architecture_overview.adoc | 6 +-- doc/architecture/traffic_participant.adoc | 4 +- doc/open-simulation-interface_user_guide.adoc | 37 ++++++++----------- .../transforming_coordinate_systems.adoc | 2 +- 6 files changed, 26 insertions(+), 27 deletions(-) create mode 100644 .gitmodules create mode 160000 asciidoc-resources diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 000000000..bd9e7f997 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "asciidoc-resources"] + path = asciidoc-resources + url = https://code.asam.net/simulation/asciidoc-resources.git diff --git a/asciidoc-resources b/asciidoc-resources new file mode 160000 index 000000000..e0bd50515 --- /dev/null +++ b/asciidoc-resources @@ -0,0 +1 @@ +Subproject commit e0bd5051571733414a219ed0e94f5de346ca49cd diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 5e54b6c1e..0d6983198 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -7,7 +7,7 @@ Top-level messages define the ``GroundTruth`` interface, the ``SensorData`` inte The following figure shows the interfaces and models involved in modeling a sensor. .Open Simulation Interface overview -image::osi-context.png[1100] +image::{images_open_simulation_interface}/osi-context.png[1100] OSI also defines interfaces for traffic participant models. @@ -16,13 +16,13 @@ The ``TrafficUpdate`` interface allows to receive their updated state. The following figure shows the interfaces of a generic traffic participant. .Interface of a traffic participant -image::osi-traffic-participant-principle.png[1100] +image::{images_open_simulation_interface}/osi-traffic-participant-principle.png[1100] Traffic participant models may use other OSI interfaces internally, for example, to model autonomous vehicles. The following figure shows a more advanced use case for traffic participants. .Traffic participant with sensor models, AD function, and dynamic model -image::osi-traffic-participant-advanced.png[1100] +image::{images_open_simulation_interface}/osi-traffic-participant-advanced.png[1100] The ``HostVehicleData`` interface describes the measured internal states of a traffic participant OSI currently provides only limited support for data structures describing measured internal states traffic participants. diff --git a/doc/architecture/traffic_participant.adoc b/doc/architecture/traffic_participant.adoc index f6bed48b3..e7ac59d2d 100644 --- a/doc/architecture/traffic_participant.adoc +++ b/doc/architecture/traffic_participant.adoc @@ -15,13 +15,13 @@ Therefore, the ego vehicle is also a traffic participant. The following figure shows the interface of a traffic participant. .Interface of a traffic participant -image::osi-traffic-participant-principle.png[1100] +image::{images_open_simulation_interface}/osi-traffic-participant-principle.png[1100] Traffic participant models may use other OSI interfaces internally, for example, to model autonomous vehicles. The following figure shows a more advanced use case for traffic participants. .Traffic participant using other OSI interfaces internally -image::osi-traffic-participant-advanced.png.png[1100] +image::{images_open_simulation_interface}/osi-traffic-participant-advanced.png[1100] With every simulation step, an OSI traffic participant model receives ground truth data from the environment around itself, the sensor view. A traffic participant can output its own perceivable state, the traffic update. diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 0c93a5efd..ee9ffc015 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -1,27 +1,22 @@ -= Open simulation interface -:revnumber: v.v.v -:revdate: dd.mm.yyyy -:toc: left -:toclevels: 2 -:sectnums: +ifndef::THIS_STANDARD[] + +:asciidoc-resources: ../asciidoc-resources +include::{asciidoc-resources}/preamble.adoc[] + +:revnumber: --localbuild-- +:revdate: {docdate} :topicdir: topics :reusedir: reuse -:imagedir: images - -// header & footer for html -// html themes -// -// source highlighting -:source-highlighter: rouge -:rouge-style: base16.solarized.light -// -// :nofooter: -:last-update-label!: -//embed images into html -:data-uri: -:mathematical-format: svg -:imagesoutdir: ../images/generated_images + +:imagesdir: . +:images_open_simulation_interface: ./images + + +endif::[] + += Open Simulation Interface + include::./misc/osi_vision.adoc[leveloffset=+1] diff --git a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc index c3be8b3d7..ebf98fd29 100644 --- a/doc/usecases/transforming_coordinate_systems.adoc +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -28,4 +28,4 @@ The reference point of the vehicle is given by a vector in the world coordinate A vector pointing from the reference position of the vehicle to the center of the rear axle then yields the origin of the vehicle coordinate system. The mounting positions of the sensors and therefore the origins of the corresponding sensor coordinate systems are then given with respect to the vehicle coordinate system. -image::{imagedir}/osi_example_coordinate_systems.png[] \ No newline at end of file +image::{images_open_simulation_interface}/osi_example_coordinate_systems.png[] \ No newline at end of file From 7389030c513d2b866161cbf1d3fff5d2316e28dd Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Tue, 13 Jul 2021 13:21:36 +0200 Subject: [PATCH 076/219] Refer to OpenDRIVE, clarify deprecation intent MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_roadmarking.proto | 87 +++++++++++++++++++---- osi_trafficsign.proto | 162 ++++++++++++++++++++++++++++-------------- 2 files changed, 182 insertions(+), 67 deletions(-) diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index 894f0304d..694aadefc 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -100,6 +100,12 @@ message RoadMarking // \note Field need not be set (or set to \c #TYPE_OTHER) // if road marking type (\c #type) does not require it. // + // \attention Deprecated: A revision is planned for version 4.0.0 to + // replace the type enum with a more semantically defined enumeration, + // with the exact sign specification being relegated to the newly + // introduced 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // // \rules // check_if this.type is_greater_than_or_equal_to 2 else do_check is_set // check_if this.type is_less_than_or_equal_to 4 else do_check is_set @@ -146,7 +152,6 @@ message RoadMarking // repeated Identifier assigned_lane_id = 6; - // Boolean flag to indicate that the road marking is taken out of service. // This can be achieved by visibly crossing the road marking with stripes, // or completely covering a road marking making it not visible. @@ -155,36 +160,92 @@ message RoadMarking // optional bool is_out_of_service = 7; - // Specifies the country. See ISO 3166-1, alpha-2 codes - // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2. <br> - // e.g. "DE", "FR", "AT" + // Country specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // Country is specified using the ISO 3166-1, alpha-2 code + // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2, or the + // special OpenDRIVE country for generic signs.<br> + // + // \rules + // check_if this.type is_greater_than_or_equal_to 2 else do_check is_set + // check_if this.type is_less_than_or_equal_to 4 else do_check is_set + // \endrules // optional string country = 8; - // The year the traffic rules come into force. <br> + // Revision specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // The year the traffic rules came into force. <br> // e.g. "2017" // + // \note Field is set if ( \c #type == \c #TYPE_PAINTED_TRAFFIC_SIGN or + // \c #TYPE_SYMBOLIC_TRAFFIC_SIGN or \c #TYPE_TEXTUAL_TRAFFIC_SIGN ). + // + // \note Field need not be set (or set to \c #TYPE_OTHER) + // if road marking type (\c #type) does not require it. + // + // \rules + // check_if this.type is_greater_than_or_equal_to 2 else do_check is_set + // check_if this.type is_less_than_or_equal_to 4 else do_check is_set + // \endrules + // optional string country_revision = 9; - // Code identifier according to country code. <br> + // Code specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // Code identifier according to country and country revision, + // corresponds to the type field of OpenDRIVE. <br> // code is only unique in combination with #country and #country_revision. <br> // e.g. http://www.vzkat.de/2017/VzKat.htm // + // \note Field is set if ( \c #type == \c #TYPE_PAINTED_TRAFFIC_SIGN or + // \c #TYPE_SYMBOLIC_TRAFFIC_SIGN or \c #TYPE_TEXTUAL_TRAFFIC_SIGN ). + // + // \note Field need not be set (or set to \c #TYPE_OTHER) + // if road marking type (\c #type) does not require it. + // + // \rules + // check_if this.type is_greater_than_or_equal_to 2 else do_check is_set + // check_if this.type is_less_than_or_equal_to 4 else do_check is_set + // \endrules + // optional string code = 10; - // Subcode identifier according to country code. <br> - // sub_code is only unique in combination with #country and #country_revision. <br> + // Sub-code specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // Sub-code identifier according to country, country revision and code, + // corresponds to the subtype field of OpenDRIVE. <br> + // sub_code is only unique in combination with #country, #country_revision, + // and #code. <br> // e.g. http://www.vzkat.de/2017/VzKat.htm // + // \note Field is set if ( \c #type == \c #TYPE_PAINTED_TRAFFIC_SIGN or + // \c #TYPE_SYMBOLIC_TRAFFIC_SIGN or \c #TYPE_TEXTUAL_TRAFFIC_SIGN ). + // + // \note Field need not be set (or set to \c #TYPE_OTHER) + // if road marking type (\c #type) does not require it. + // + // \rules + // check_if this.type is_greater_than_or_equal_to 2 else do_check is_set + // check_if this.type is_less_than_or_equal_to 4 else do_check is_set + // \endrules + // optional string sub_code = 11; // Definition of road marking types. // - // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum - // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Type will be dealt with in future will be discussed in Harmonization OpenX group.<br> - // Deprecated status planned for version 4.0.0 - // enum Type { // Type of road marking is unknown (must not be used in ground diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 9497f9c3c..7436e81c0 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -251,10 +251,12 @@ message TrafficSign // The type of the traffic sign. // - // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum - // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Type type will be dealt with in future will be discussed in Harmonization OpenX group.<br> - // Deprecated status planned for version 4.0.0 + // \attention Deprecated: A revision is planned for version 4.0.0 to + // replace the type enum with a more semantically defined enumeration, + // with the exact sign specification being relegated to the newly + // introduced 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // optional Type type = 2; // Additional value associated with the traffic sign, e.g. value of @@ -286,10 +288,12 @@ message TrafficSign // might have been intentionally unmounted and, hence, not be in // effect. // - // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum - // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the DirectionScope direction_scope will be dealt with in future will be discussed in Harmonization OpenX group.<br> - // Deprecated status planned for version 4.0.0 + // \attention Deprecated: A revision is planned for version 4.0.0 to + // replace the type enum with a more semantically defined enumeration, + // with the exact sign specification being relegated to the newly + // introduced 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // optional DirectionScope direction_scope = 4; // The IDs of the lanes that the sign is assigned to. @@ -314,10 +318,12 @@ message TrafficSign // As for every boolean in the protocol buffers language, the // default value of \c #vertically_mirrored is \c false. // - // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum - // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the bool vertically_mirrored will be dealt with in future will be discussed in Harmonization OpenX group.<br> - // Deprecated status planned for version 4.0.0 + // \attention Deprecated: A revision is planned for version 4.0.0 to + // replace the type enum with a more semantically defined enumeration, + // with the exact sign specification being relegated to the newly + // introduced 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // optional bool vertically_mirrored = 6; // Boolean flag to indicate that a traffic sign is taken out of service. @@ -325,25 +331,48 @@ message TrafficSign // optional bool is_out_of_service = 7; - // Specifies the country. See ISO 3166-1, alpha-2 codes - // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2. <br> - // e.g. "DE", "FR", "AT" + // Country specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // Country is specified using the ISO 3166-1, alpha-2 code + // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2, or the + // special OpenDRIVE country for generic signs.<br> // optional string country = 8; - // The year the traffic rules come into force. <br> + // Revision specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // The year the traffic rules came into force. <br> // e.g. "2017" // optional string country_revision = 9; - // Code identifier according to country code. <br> + // Code specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // Code identifier according to country and country revision, + // corresponds to the type field of OpenDRIVE. <br> // code is only unique in combination with #country and #country_revision. <br> // e.g. http://www.vzkat.de/2017/VzKat.htm // optional string code = 10; - // Subcode identifier according to country code. <br> - // sub_code is only unique in combination with #country and #country_revision. <br> + // Sub-code specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // Sub-code identifier according to country, country revision and code, + // corresponds to the subtype field of OpenDRIVE. <br> + // sub_code is only unique in combination with #country, #country_revision, + // and #code. <br> // e.g. http://www.vzkat.de/2017/VzKat.htm // optional string sub_code = 11; @@ -367,10 +396,12 @@ message TrafficSign // https://www.gesetze-im-internet.de/stvo_2013/anlage_4.html // (Verkehrseinrichtungen) \arg https://traffic-rules.com/ // - // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum - // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Type will be dealt with in future will be discussed in Harmonization OpenX group.<br> - // Deprecated status planned for version 4.0.0 + // \attention Deprecated: A revision is planned for version 4.0.0 to + // replace the type enum with a more semantically defined enumeration, + // with the exact sign specification being relegated to the newly + // introduced 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // enum Type { // Type of traffic sign is unknown (must not be used in ground @@ -5563,10 +5594,12 @@ message TrafficSign // Type of the supplementary sign. // - // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum - // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Type type will be dealt with in future will be discussed in Harmonization OpenX group.<br> - // Deprecated status planned for version 4.0.0 + // \attention Deprecated: A revision is planned for version 4.0.0 to + // replace the type enum with a more semantically defined enumeration, + // with the exact sign specification being relegated to the newly + // introduced 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // optional Type type = 2; // Additional value(s) associated with the traffic sign, e.g. @@ -5596,18 +5629,22 @@ message TrafficSign // bikes, cars, trucks and so on), that the supplementary sign // makes reference to. // - // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum - // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Actor actor will be dealt with in future will be discussed in Harmonization OpenX group.<br> - // Deprecated status planned for version 4.0.0 + // \attention Deprecated: A revision is planned for version 4.0.0 to + // replace the type enum with a more semantically defined enumeration, + // with the exact sign specification being relegated to the newly + // introduced 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // repeated Actor actor = 5; // A direction arrow shown on the supplementary sign. // - // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum - // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the Arrow arrow will be dealt with in future will be discussed in Harmonization OpenX group.<br> - // Deprecated status planned for version 4.0.0 + // \attention Deprecated: A revision is planned for version 4.0.0 to + // replace the type enum with a more semantically defined enumeration, + // with the exact sign specification being relegated to the newly + // introduced 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // repeated Arrow arrow = 6; // Boolean flag to indicate that the supplementary traffic sign is taken out of service. @@ -5615,25 +5652,48 @@ message TrafficSign // optional bool is_out_of_service = 7; - // Specifies the country. See ISO 3166-1, alpha-2 codes - // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2. <br> - // e.g. "DE", "FR", "AT" + // Country specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // Country is specified using the ISO 3166-1, alpha-2 code + // https://en.wikipedia.org/wiki/ISO_3166-1_alpha-2, or the + // special OpenDRIVE country for generic signs.<br> // optional string country = 8; - // The year the traffic rules come into force. <br> + // Revision specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // The year the traffic rules came into force. <br> // e.g. "2017" // optional string country_revision = 9; - // Code identifier according to country code. <br> + // Code specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // Code identifier according to country and country revision, + // corresponds to the type field of OpenDRIVE. <br> // code is only unique in combination with #country and #country_revision. <br> // e.g. http://www.vzkat.de/2017/VzKat.htm // optional string code = 10; - // Subcode identifier according to country code. <br> - // sub_code is only unique in combination with #country and #country_revision. <br> + // Sub-code specification of the traffic sign catalog specification + // that identifies the actual traffic sign. This is part of the + // 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // + // Sub-code identifier according to country, country revision and code, + // corresponds to the subtype field of OpenDRIVE. <br> + // sub_code is only unique in combination with #country, #country_revision, + // and #code. <br> // e.g. http://www.vzkat.de/2017/VzKat.htm // optional string sub_code = 11; @@ -5652,10 +5712,12 @@ message TrafficSign // sequence: \c #TYPE_EXCEPT, \c #TYPE_CONSTRAINED_TO, \c // #TYPE_ARROW, \c #TYPE_TIME, \c #TYPE_SPACE, \c #TYPE_TEXT. // - // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum - // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the enum Type will be dealt with in future will be discussed in Harmonization OpenX group.<br> - // Deprecated status planned for version 4.0.0 + // \attention Deprecated: A revision is planned for version 4.0.0 to + // replace the type enum with a more semantically defined enumeration, + // with the exact sign specification being relegated to the newly + // introduced 4-tupel traffic sign catalog specification as used in + // <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE</a>. + // enum Type { // Type of supplementary sign is unknown (must not be used in @@ -9071,10 +9133,6 @@ message TrafficSign // Definition of the traffic actors the supplementary sign makes // reference to. E.g. bikes, trucks, cars, etc. // - // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum - // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the enum Actor will be dealt with in future will be discussed in Harmonization OpenX group.<br> - // Deprecated status planned for version 4.0.0 enum Actor { // An unknown actor @@ -9300,10 +9358,6 @@ message TrafficSign // The direction to which the arrow points to // - // \attention Deprecated: OpenDRIVE categorization for traffic signs is more generic than OSI enum - // (see <a href="https://releases.asam.net/OpenDRIVE/1.6.0/ASAM_OpenDRIVE_BS_V1-6-0.html#_signals">OpenDRIVE V1-6-0</a>).<br> - // How the enum Direction will be dealt with in future will be discussed in Harmonization OpenX group.<br> - // Deprecated status planned for version 4.0.0 enum Direction { // Direction of sign is unknown (must not be used in ground From 6c0526ba4cb8adc0c1b85b38f21b531ba6c89f43 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Tue, 13 Jul 2021 11:22:53 +0200 Subject: [PATCH 077/219] fix(docs): Implement review comments (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .../environmental_effect_model.adoc | 4 +- doc/architecture/formatting_scripts.adoc | 12 ++-- doc/architecture/ground_truth.adoc | 6 +- doc/architecture/logical_model.adoc | 6 +- doc/architecture/sensor_data.adoc | 4 +- doc/architecture/sensor_model.adoc | 2 +- doc/architecture/sensor_view.adoc | 4 +- doc/architecture/traffic_command.adoc | 2 +- doc/architecture/traffic_participant.adoc | 2 +- doc/architecture/traffic_update.adoc | 2 +- .../osi-traffic-participant-use-case-1.png | Bin 0 -> 70706 bytes .../osi-traffic-participant-use-case-2.png | Bin 0 -> 77407 bytes .../osi-traffic-participant-use-case-3.png | Bin 0 -> 85941 bytes .../osi-traffic-participant-use-case-4.png | Bin 0 -> 96523 bytes doc/open-simulation-interface_user_guide.adoc | 2 + .../modeling_traffic_participant.adoc | 54 +++++++++++++++--- 16 files changed, 70 insertions(+), 30 deletions(-) create mode 100644 doc/images/osi-traffic-participant-use-case-1.png create mode 100644 doc/images/osi-traffic-participant-use-case-2.png create mode 100644 doc/images/osi-traffic-participant-use-case-3.png create mode 100644 doc/images/osi-traffic-participant-use-case-4.png diff --git a/doc/architecture/environmental_effect_model.adoc b/doc/architecture/environmental_effect_model.adoc index 17ddabf21..c58432a40 100644 --- a/doc/architecture/environmental_effect_model.adoc +++ b/doc/architecture/environmental_effect_model.adoc @@ -1,7 +1,7 @@ = Environmental effect model -Environmental effect models consume sensor-view data and produce sensor-view data. -Environmental effect models may, for example, include the following: +Environmental effect models consume sensor-view messages and produce sensor-view messages. +Environmental effect models may, for example, alter sensor-view messages to include effects and phenomena caused by: * Shadows and occlusions * Weather effects diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index 306efa65b..60ccbd940 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -12,8 +12,8 @@ This script takes the following parameters: String containing the path to the file with serialized data. `--type`, `-t`:: -Optional string containing the name of the type used to serialize data. -Allowed values are `'SensorView'`, `'GroundTruth'`, and `'SensorData'`. +Optional string describing the message type used to serialize data. +Allowed values are `'SensorView'`, `'GroundTruth'`, or `'SensorData'`. The default value is `'SensorView'`. `--output`, `-o`:: @@ -22,7 +22,7 @@ The default value is `'converted.osi'`. `--compress`, `-c`:: Optional boolean controlling whether to compress the output to a lzma file. -Allowed values are `True`, and `False`. +Allowed values are `True`, or `False`. The default value is `False`. **osi2read.py** @@ -35,7 +35,7 @@ String containing the path to the file with serialized data. `--type`, `-t`:: Optional string containing the name of the type used to serialize data. -Allowed values are `'SensorView'`, `'GroundTruth'`, and `'SensorData'`. +Allowed values are `'SensorView'`, `'GroundTruth'`, or `'SensorData'`. The default value is `'SensorView'`. `--output`, `-o`:: @@ -43,6 +43,6 @@ Optional string containing the name of the output file. The default value is `'converted.txth'`. `--format`, `-f`:: -Optional string containing the format type of the trace. -Allowed values are `'separated'`, and `None`. +Optional string containing the format type of the trace file. +Allowed values are `'separated'`, or `None`. The default value is `None`. \ No newline at end of file diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index 7ae617f47..f55b2a1f1 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -1,5 +1,5 @@ = Ground truth -Ground truth describes the simulated environment around all simulated objects in the global coordinate system. -It is based on data available to the simulation environment and published to external subscribers. -Depending on the external subscriber, ground-truth data may be individually restricted to reduce the data to be exchanged. +Ground-truth messages describe the simulated environment around all simulated objects in the global coordinate system at consecutive time instances. +It is based on data available to the simulation environment and is published to external subscribers. +Depending on the external subscriber, ground-truth messages may be individually restricted to reduce the data to be exchanged. diff --git a/doc/architecture/logical_model.adoc b/doc/architecture/logical_model.adoc index cdfe0d5b9..ee5111cb5 100644 --- a/doc/architecture/logical_model.adoc +++ b/doc/architecture/logical_model.adoc @@ -1,6 +1,6 @@ = Logical model -Logical models consume sensor-data data and produce sensor-data data. +Logical models consume sensor-data messages and produce sensor-data messages. -An example of a logical model is a sensor-fusion model, which fuses the output of multiple sensor models. -Another use case is the injection of faults after the sensor model. +An example of a logical model is a sensor-fusion model, which combines the output of multiple sensor models to produce data with less uncertainty. +Another use case is the fault-injection model which, contrary to a sensor-fusion model, may be used to increase uncertainties. \ No newline at end of file diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index 1db02ddc1..9504bd950 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,7 +1,7 @@ = Sensor data -Sensor data imitates the output of real sensors. -It can be generated from ground-truth data, sensor-view data, feature data or from sensor data. +Sensor-data messages imitate the output of real sensors. +It can be generated from ground-truth messages, sensor-view messages, feature-data messages or from sensor-data messages. Except 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. diff --git a/doc/architecture/sensor_model.adoc b/doc/architecture/sensor_model.adoc index b2c373774..1fe83a815 100644 --- a/doc/architecture/sensor_model.adoc +++ b/doc/architecture/sensor_model.adoc @@ -1,6 +1,6 @@ = Sensor model -Sensor models consume sensor-view data and produce sensor-data data. +Sensor models consume sensor-view messages and produce sensor-data messages. Those models can be based on physics or phenomenological. Sensor-model output does not represent raw data, but detected features or classified objects. \ No newline at end of file diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index 54f8fdd85..8ca3e2b65 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -1,8 +1,8 @@ = Sensor view Sensor view imitates the input of sensors. -Sensor-view data is derived from ground-truth data. +Sensor-view messages are derived from ground-truth messages. All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: * Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position. -* Ground-truth data, given in the global coordinate system. \ No newline at end of file +* Ground truth, given in the global coordinate system. \ No newline at end of file diff --git a/doc/architecture/traffic_command.adoc b/doc/architecture/traffic_command.adoc index 6e70b6bd4..7f911cb1a 100644 --- a/doc/architecture/traffic_command.adoc +++ b/doc/architecture/traffic_command.adoc @@ -1,3 +1,3 @@ = Traffic command -Traffic commands contain control commands from the scenario engine to traffic participant models. \ No newline at end of file +Traffic-command messages contain control commands from the scenario engine to traffic participant models. \ No newline at end of file diff --git a/doc/architecture/traffic_participant.adoc b/doc/architecture/traffic_participant.adoc index e7ac59d2d..fdce08be9 100644 --- a/doc/architecture/traffic_participant.adoc +++ b/doc/architecture/traffic_participant.adoc @@ -23,7 +23,7 @@ The following figure shows a more advanced use case for traffic participants. .Traffic participant using other OSI interfaces internally image::{images_open_simulation_interface}/osi-traffic-participant-advanced.png[1100] -With every simulation step, an OSI traffic participant model receives ground truth data from the environment around itself, the sensor view. +With every simulation step, an OSI traffic participant model receives ground-truth data from the environment around itself, the sensor view. A traffic participant can output its own perceivable state, the traffic update. Traffic commands influence the behavior of the traffic participant model. They allow event-based communication towards the traffic participant, that is, at certain simulation steps. diff --git a/doc/architecture/traffic_update.adoc b/doc/architecture/traffic_update.adoc index b8795e645..29ed49c5a 100644 --- a/doc/architecture/traffic_update.adoc +++ b/doc/architecture/traffic_update.adoc @@ -1,4 +1,4 @@ = Traffic update -Traffic updates are provided by traffic participants. +Traffic-update messages are provided by traffic participants. 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z_V)AJkFdYzd_)m<@Os0~w~W4e{<lPN9wTRTRj0isb%?J?@)2AAmJY)+HTghOqOrLi zY#a4v5+YvW|9_3Z!*;m$PQVxLz)v+JI0pvG#02xzaeX`~t<R|@3_d*u%KDR_r_ax* z;{xb7{@}#xx8n=dL8|UZ#=`dD@Z(`u50MfYJOqruwy_U)55ea+h*nJ)X@)7~GMNkX z`vI1&wLdB-oKd8ymULVReaOI(a+oAFkLs%DpykF7E3`L;ut%^%xj%-0B@~OKX(5@B zOS*&&|G7skWsY_j?8V%DRwz+my59wEi$r1~VpawCBq;sLACs=R?b=*#hq6nwNW`LY z%#%9+I6{t^J!y)n414b!w}tH~i`4T^H(o`lmY&~}`U#gq7v#KP9U1wh$^Y*r?A}~# z5`#UBc~NrYM5hbCj_TKo45JUTnFKmQ+8C|qI2oQ#$GWRO-N9Z$!Q&n575yb;)gQe) z^rF7j6yMII<x+a#q>om5mD<*r$4_YfDgOT-%x$YrwFgdQsJ3i+5&$p}vNvk>z5UU@ DNPD(o literal 0 HcmV?d00001 diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index ee9ffc015..727a83b3a 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -50,6 +50,8 @@ include::./architecture/logical_model.adoc[leveloffset=+3] include::./architecture/traffic_participant.adoc[leveloffset=+3] +include::./usecases/modeling_traffic_participant.adoc[leveloffset=+3] + //include::./architecture/vehicle_dynamics.adoc[leveloffset=+3] === Coordinate systems and reference points diff --git a/doc/usecases/modeling_traffic_participant.adoc b/doc/usecases/modeling_traffic_participant.adoc index c987101b8..b5ea466ba 100644 --- a/doc/usecases/modeling_traffic_participant.adoc +++ b/doc/usecases/modeling_traffic_participant.adoc @@ -1,10 +1,48 @@ = Modeling a traffic participant -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +Different models may be involved in modeling a traffic participant. +In all the use cases, a simulator loads and interprets a scenario and a map prior to execution. +The scenario is, for example, provided by OpenSCENARIO. +The map data is, for example, provided by OpenDRIVE. +During runtime the simulator interacts with the traffic participants via OSI messages. +There may be multiple instances of a traffic participant. +The traffic participants are co-simulated. + +The following figure shows a very simple use case. + +.Simple traffic participant +image::{images_open_simulation_interface}/osi-traffic-participant-use-case-1.png[1100] + +The traffic participant bases its behavior only on an idealized view of the area around it. +If they exist, the traffic participant’s dynamics are included in the model. + +The following figure shows a traffic participant with separately modeled behavior and dynamics. + +.Traffic participants with separate dynamics +image::{images_open_simulation_interface}/osi-traffic-participant-use-case-2.png[1100] + +OSI currently provides only limited support for data structures describing measured internal states of the traffic participant. +Actuator intentions are currently not covered by OSI and must be handled with a different data description format. + +The following figure shows a more complex traffic participant. + +.Traffic participant with sensor models, AD function, and dynamics model +image::{images_open_simulation_interface}/osi-traffic-participant-use-case-3.png[1100] + +This use case will probably be relevant for modeling the ego vehicle, which includes the system-under-test. +The traffic participant includes an arbitrary number of sensor models +The sensor models consume sensor view and produce sensor data. +The AD function consumes sensor data and produces input for the dynamics model. +OSI currently does not support data flow to dynamics models. +The loop to the environment simulation is closed via traffic update. + +The following figure shows a cooperative use case with both an AD function and a human driver. + +.Traffic participant with an AD function and a human driver +image::{images_open_simulation_interface}/osi-traffic-participant-use-case-4.png[1100] + +It is possible to model a traffic participant with an AD function in the loop, but a human driver can still override the actuation command. +Such a cooperative use case is, for example, relevant to studies on human-machine interaction. +In this example, a virtual on-screen representation of the scenario, or mock-up, is added after the AD function. +The driver-in-the-loop interacts with the dynamics model via this mock-up. +OSI's limitations regarding dynamics-model input apply in this example as well. \ No newline at end of file From 0bd74a5a3caaea710c951363aecb00844619b382 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Tue, 13 Jul 2021 16:11:15 +0200 Subject: [PATCH 078/219] fix(docs): Implement review comments (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/feature_data.adoc | 4 ++-- doc/architecture/formatting_scripts.adoc | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc index f739be7d8..de00650b1 100644 --- a/doc/architecture/feature_data.adoc +++ b/doc/architecture/feature_data.adoc @@ -1,5 +1,5 @@ = Feature data -Feature data contains detected features in the reference frame of a sensor. -Feature data is generated from ground-truth data. +Feature-data messages contains detected features in the reference frame of a sensor. +Feature-data messages are generated from ground-truth messages. It serves, for example, as input for sensor models simulating object detection or feature fusion models. diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index 60ccbd940..89f69d65a 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -34,7 +34,7 @@ This script takes the following parameters: String containing the path to the file with serialized data. `--type`, `-t`:: -Optional string containing the name of the type used to serialize data. +Optional string describing the message type used to serialize data. Allowed values are `'SensorView'`, `'GroundTruth'`, or `'SensorData'`. The default value is `'SensorView'`. @@ -45,4 +45,4 @@ The default value is `'converted.txth'`. `--format`, `-f`:: Optional string containing the format type of the trace file. Allowed values are `'separated'`, or `None`. -The default value is `None`. \ No newline at end of file +The default value is `None`. From a6b6efe0b6fb8d43120a5e9dcbd2b7a28ed9597c Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Wed, 21 Jul 2021 09:11:31 +0200 Subject: [PATCH 079/219] fix(docs): Doc review (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/open-simulation-interface_user_guide.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 727a83b3a..73b77e9a3 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -90,7 +90,7 @@ include::./setup/installing_windows_cpp.adoc[leveloffset=+2] include::./setup/installing_windows_python.adoc[leveloffset=+2] -include::./setup/installing_macos.adoc[leveloffset=+2] +//include::./setup/installing_macos.adoc[leveloffset=+2] //include::./setup/using_osi_support_tools.adoc[leveloffset=+2] From 1f2ec78374925839551c4c9f09034b96937fa367 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 23 Jul 2021 14:55:58 +0200 Subject: [PATCH 080/219] fix(docs): Implement review comments (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/misc/osi_reference.adoc | 2 +- doc/open-simulation-interface_user_guide.adoc | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/misc/osi_reference.adoc b/doc/misc/osi_reference.adoc index 36f83a1ef..f9203d706 100644 --- a/doc/misc/osi_reference.adoc +++ b/doc/misc/osi_reference.adoc @@ -2,4 +2,4 @@ The reference documentation for OSI is generated with Doxygen. It is available at: -https://opensimulationinterface.github.io/open-simulation-interface/annotated.html +https://opensimulationinterface.github.io/open-simulation-interface/ diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 73b77e9a3..f0af26b01 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -118,7 +118,7 @@ include::./setup/installing_windows_python.adoc[leveloffset=+2] include::./misc/osi_reference.adoc[leveloffset=+1] -== Releases and compatibility +== Releases include::./releases/versioning.adoc[leveloffset=+2] From d4f87e7325600c0d851bd44526e236ff87ad2d61 Mon Sep 17 00:00:00 2001 From: "@lukas.elster" <lukas.elster@tu-darmstadt.de> Date: Wed, 3 Feb 2021 16:31:05 +0100 Subject: [PATCH 081/219] Added emitting structure for types of stationary object classes. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: @lukas.elster <lukas.elster@tu-darmstadt.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 5a430e092..3e56bdf41 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -163,8 +163,8 @@ message StationaryObject // TYPE_OVERHEAD_STRUCTURE = 14; - // Landmarks corresponding to light sources or reflective structures - // in the environment, like street lights or reflective poles on the + // Landmarks corresponding to reflective structures + // in the environment, like reflective poles on the // road boarder. // TYPE_REFLECTIVE_STRUCTURE = 15; @@ -177,6 +177,11 @@ message StationaryObject // Object is a speed bump. // TYPE_SPEED_BUMP = 17; + + // Landmarks corresponding to sources of electromagnetic waves + // in the environment, like street lights. + // + TYPE_EMITTING_STRUCTURE = 18; } // Definition of material types. From b57db89b1e75b1abff66407451dd379de327f188 Mon Sep 17 00:00:00 2001 From: "@lukas.elster" <lukas.elster@tu-darmstadt.de> Date: Wed, 3 Feb 2021 17:13:01 +0100 Subject: [PATCH 082/219] Proposal for the attributes of emitting structures. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: @lukas.elster <lukas.elster@tu-darmstadt.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 50 ++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 50 insertions(+) diff --git a/osi_object.proto b/osi_object.proto index 3e56bdf41..2b8ef94d8 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -96,6 +96,10 @@ message StationaryObject // optional Color color = 4; + // The attributes of the emitting structure if stationary object is classified as such. + // + optional EmittingStructureAttribute emitting_structure_attribute = 5; + // Definition of object types. // enum Type @@ -308,6 +312,52 @@ message StationaryObject // COLOR_WHITE = 10; } + + // + // Attributes of type emitting structure + // + message EmittingStructureAttribute + { + // Maximum wavelength of emitted electromagnetic wave + // + // Unit: m + // + optional double max_wavelength = 0; + + // Minimum wavelength of emitted electromagnetic wave + // + // Unit: m + // + optional double min_wavelength = 1; + + // Step size for emitted electromagnetic wave + // + // Unit: m + // + optional double wavelength_step = 2; + + // Intensities of emitted electromagnetic wave + // + // Unit: % + // + // \note size = (max_wavelength - min_wavelength) / wavelength_step + // + repeated double intensity_per_wavelength = 3; + + // Beam angles of emitted electromagnetic wave + // + // Unit: rad + // + repeated Orientation3d beam_angle = 4; + + // Intensities of emitted electromagnetic wave per beam + // + // Unit: % + // + // \note size = size of beam_angle + // + repeated double intensity_per_beam = 5; + } } } From bfb5e851ac5717f8cdf6482122b17d88fe876a3b Mon Sep 17 00:00:00 2001 From: "@lukas.elster" <lukas.elster@tu-darmstadt.de> Date: Thu, 18 Feb 2021 11:25:58 +0100 Subject: [PATCH 083/219] Updated version of the emitting object message based on the discussion in the SensorModeling Bi-Weekly on 05.02.21. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: @lukas.elster <lukas.elster@tu-darmstadt.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 37 +++++++++++++------------------------ 1 file changed, 13 insertions(+), 24 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 2b8ef94d8..61127d210 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -318,45 +318,34 @@ message StationaryObject // message EmittingStructureAttribute { - // Maximum wavelength of emitted electromagnetic wave + // In use-cases where a spectral ray-tracer is used, this message + // determines the range of the wavelength and its desired number + // of samples. // - // Unit: m - // - optional double max_wavelength = 0; - - // Minimum wavelength of emitted electromagnetic wave - // - // Unit: m - // - optional double min_wavelength = 1; - - // Step size for emitted electromagnetic wave - // - // Unit: m - // - optional double wavelength_step = 2; + repeated WavelengthData wavelength_data = 1; - // Intensities of emitted electromagnetic wave + // Intensities of emitted electromagnetic wave referred to a discrete + // wavelength defined in WavelengthData. // // Unit: % // - // \note size = (max_wavelength - min_wavelength) / wavelength_step + // \note The size of the message has to be equal to the the size of WavelengthData samples_number // - repeated double intensity_per_wavelength = 3; + repeated double intensity_per_wavelength = 2; - // Beam angles of emitted electromagnetic wave + // The beam angle of emitted electromagnetic wave in azimuth and elevation // // Unit: rad // - repeated Orientation3d beam_angle = 4; + repeated Spherical2d beam_angle = 3; - // Intensities of emitted electromagnetic wave per beam + // Intensities of emitted electromagnetic wave referred to beam_angle. // // Unit: % // - // \note size = size of beam_angle + // \note The size of the message has to be equal to the discretization in beam_angle. // - repeated double intensity_per_beam = 5; + repeated double intensity_per_beam = 4; } } } From 426c54f46a688f4826eab8de19ad0c614f519cc8 Mon Sep 17 00:00:00 2001 From: "@lukas.elster" <lukas.elster@tu-darmstadt.de> Date: Mon, 1 Mar 2021 13:00:38 +0100 Subject: [PATCH 084/219] New Proposal for emitting objects. Added Distribution into common for e.g. radar antenna pattern and changed osi_object.proto accordingly. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: @lukas.elster <lukas.elster@tu-darmstadt.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 73 ++++++++++++++++++++++++++++++++++++++++++++++++ osi_object.proto | 8 +++--- 2 files changed, 77 insertions(+), 4 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index e75c1600a..e5a5bad46 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -579,3 +579,76 @@ message WavelengthData // optional double samples_number = 3; } + +// +// \brief Distribution of data points and data values +// +// Defines the breakpoints of the corresponding distribution and the corresponding distribution values. +// +message DistributionData +{ + // Defines the type of the breakpoints for the distribution function. + // + optional Breakpoints breakpoints = 1; + + // Defines the value of breakpoints of the distribution function for continuous or not equally distributed cases. + // + repeated double points = 2; + + // Defines the start value, end value and the sample number if distribution has equally discretized breakpoints. + // In case of BREAKPOINTS_SPHERICAL the first one is azimuth and the second is elevation direction. + // In case of BREAKPOINTS_RECTANGULAR the first one is x and the second is y direction + // + repeated double WaveLengthData = 3; + + // Defines the type of the distribution. + // + optional Distribution distribution = 4; + + // Defines the normalized value of the distribution. + // In case of DISTRIBUTION_EQUAL the value of all points is equal to the double data. + // In case of DISTRIBUTION_GAUSSIAN there has to be two values in the following order: + // expected value, variance + // If the type is DISTRIBUTION_CUSTOM data corresponds to a Lookup-Table with points + // defined in the same message: + // E.g. osi_object.proto: Spherical2d is defined before DistributionData and the number + // of elements in data is equal to the discretization in Spheical2d. + // + // Unit: % + // + repeated double data = 5; + + // Definition of distribution types. The values of the data distribution is defined in the field data. + // + enum Breakpoints + { + // The data points of the distribution is user-defined (e.g. breakpoints Lookup-Table). + // + BREAKPOINTS_CUSTOM = 0; + + // The distribution corresponds to an equal distribution. + // + BREAKPOINTS_SPHERICAL = 1; + + // The distribution corresponds to a Gaussian distribution. + // + BREAKPOINTS_RECTANGULAR = 2; + } + + // Definition of distribution types. The values of the data distribution is defined in the field data. + // + enum Distribution + { + // The distribution corresponds to a user-defined distribution (e.g. Lookup-Table). + // + DISTRIBUTION_CUSTOM = 0; + + // The distribution corresponds to an equal distribution. + // + DISTRIBUTION_EQUAL = 1; + + // The distribution corresponds to a Gaussian distribution. + // + DISTRIBUTION_GAUSSIAN = 2; + } +} diff --git a/osi_object.proto b/osi_object.proto index 61127d210..034bf0319 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -324,10 +324,10 @@ message StationaryObject // repeated WavelengthData wavelength_data = 1; - // Intensities of emitted electromagnetic wave referred to a discrete - // wavelength defined in WavelengthData. + // Original intensities of emitted electromagnetic wave referred to a discrete + // wavelength defined in WavelengthData. This maximum value is weighted based on the DistributionData. // - // Unit: % + // Unit: W/m^2 // // \note The size of the message has to be equal to the the size of WavelengthData samples_number // @@ -345,7 +345,7 @@ message StationaryObject // // \note The size of the message has to be equal to the discretization in beam_angle. // - repeated double intensity_per_beam = 4; + repeated DistributionData EDF = 4; } } } From c9b86aad4b2d84bfcd5351ead416765f80b585d5 Mon Sep 17 00:00:00 2001 From: "@lukas.elster" <lukas.elster@tu-darmstadt.de> Date: Fri, 5 Mar 2021 08:18:30 +0100 Subject: [PATCH 085/219] Minor changes in plausibility and comments. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: @lukas.elster <lukas.elster@tu-darmstadt.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 16 ++++++++-------- osi_object.proto | 10 +--------- 2 files changed, 9 insertions(+), 17 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index e5a5bad46..cdb0a7019 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -597,11 +597,11 @@ message DistributionData // Defines the start value, end value and the sample number if distribution has equally discretized breakpoints. // In case of BREAKPOINTS_SPHERICAL the first one is azimuth and the second is elevation direction. - // In case of BREAKPOINTS_RECTANGULAR the first one is x and the second is y direction + // In case of BREAKPOINTS_RECTANGULAR the first one is x- and the second is y-direction. // repeated double WaveLengthData = 3; - // Defines the type of the distribution. + // Defines the type of the data distribution. // optional Distribution distribution = 4; @@ -610,9 +610,9 @@ message DistributionData // In case of DISTRIBUTION_GAUSSIAN there has to be two values in the following order: // expected value, variance // If the type is DISTRIBUTION_CUSTOM data corresponds to a Lookup-Table with points - // defined in the same message: - // E.g. osi_object.proto: Spherical2d is defined before DistributionData and the number - // of elements in data is equal to the discretization in Spheical2d. + // defined via the breakpoints. + // The maximum value of the distribution is defined in the osi message, in which this + // message is used. // // Unit: % // @@ -622,15 +622,15 @@ message DistributionData // enum Breakpoints { - // The data points of the distribution is user-defined (e.g. breakpoints Lookup-Table). + // The breakpoints of the distribution is user-defined (e.g. breakpoints Lookup-Table). // BREAKPOINTS_CUSTOM = 0; - // The distribution corresponds to an equal distribution. + // The breakpoints of the distribution are in azimuth and elevation (spherical shape). // BREAKPOINTS_SPHERICAL = 1; - // The distribution corresponds to a Gaussian distribution. + // The breakpoints of the distribution are in x- and y-coordinates (rectangular shape). // BREAKPOINTS_RECTANGULAR = 2; } diff --git a/osi_object.proto b/osi_object.proto index 034bf0319..eae474356 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -333,18 +333,10 @@ message StationaryObject // repeated double intensity_per_wavelength = 2; - // The beam angle of emitted electromagnetic wave in azimuth and elevation - // - // Unit: rad - // - repeated Spherical2d beam_angle = 3; - - // Intensities of emitted electromagnetic wave referred to beam_angle. + // Intensities of emitted electromagnetic wave. // // Unit: % // - // \note The size of the message has to be equal to the discretization in beam_angle. - // repeated DistributionData EDF = 4; } } From 282d7e68f34b6577f3643d5e974448ec1d8fe62c Mon Sep 17 00:00:00 2001 From: "@lukas.elster" <lukas.elster@tu-darmstadt.de> Date: Fri, 28 May 2021 08:15:14 +0200 Subject: [PATCH 086/219] Changes in osi_common reversed and new structure in osi_object to specify emitting objects. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: @lukas.elster <lukas.elster@tu-darmstadt.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 73 ------------------------------------------------ osi_object.proto | 44 ++++++++++++++++++++++------- 2 files changed, 34 insertions(+), 83 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index cdb0a7019..e75c1600a 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -579,76 +579,3 @@ message WavelengthData // optional double samples_number = 3; } - -// -// \brief Distribution of data points and data values -// -// Defines the breakpoints of the corresponding distribution and the corresponding distribution values. -// -message DistributionData -{ - // Defines the type of the breakpoints for the distribution function. - // - optional Breakpoints breakpoints = 1; - - // Defines the value of breakpoints of the distribution function for continuous or not equally distributed cases. - // - repeated double points = 2; - - // Defines the start value, end value and the sample number if distribution has equally discretized breakpoints. - // In case of BREAKPOINTS_SPHERICAL the first one is azimuth and the second is elevation direction. - // In case of BREAKPOINTS_RECTANGULAR the first one is x- and the second is y-direction. - // - repeated double WaveLengthData = 3; - - // Defines the type of the data distribution. - // - optional Distribution distribution = 4; - - // Defines the normalized value of the distribution. - // In case of DISTRIBUTION_EQUAL the value of all points is equal to the double data. - // In case of DISTRIBUTION_GAUSSIAN there has to be two values in the following order: - // expected value, variance - // If the type is DISTRIBUTION_CUSTOM data corresponds to a Lookup-Table with points - // defined via the breakpoints. - // The maximum value of the distribution is defined in the osi message, in which this - // message is used. - // - // Unit: % - // - repeated double data = 5; - - // Definition of distribution types. The values of the data distribution is defined in the field data. - // - enum Breakpoints - { - // The breakpoints of the distribution is user-defined (e.g. breakpoints Lookup-Table). - // - BREAKPOINTS_CUSTOM = 0; - - // The breakpoints of the distribution are in azimuth and elevation (spherical shape). - // - BREAKPOINTS_SPHERICAL = 1; - - // The breakpoints of the distribution are in x- and y-coordinates (rectangular shape). - // - BREAKPOINTS_RECTANGULAR = 2; - } - - // Definition of distribution types. The values of the data distribution is defined in the field data. - // - enum Distribution - { - // The distribution corresponds to a user-defined distribution (e.g. Lookup-Table). - // - DISTRIBUTION_CUSTOM = 0; - - // The distribution corresponds to an equal distribution. - // - DISTRIBUTION_EQUAL = 1; - - // The distribution corresponds to a Gaussian distribution. - // - DISTRIBUTION_GAUSSIAN = 2; - } -} diff --git a/osi_object.proto b/osi_object.proto index eae474356..b67634197 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -314,30 +314,54 @@ message StationaryObject } // - // Attributes of type emitting structure + // \brief Attributes of type emitting structure // message EmittingStructureAttribute { - // In use-cases where a spectral ray-tracer is used, this message - // determines the range of the wavelength and its desired number - // of samples. + // This message determines the range of the wavelength and its + // desired number of samples. // repeated WavelengthData wavelength_data = 1; // Original intensities of emitted electromagnetic wave referred to a discrete - // wavelength defined in WavelengthData. This maximum value is weighted based on the DistributionData. + // wavelength defined in WavelengthData. This maximum value is weighted based on the IntensityDistribution. // // Unit: W/m^2 // - // \note The size of the message has to be equal to the the size of WavelengthData samples_number + // \note max_intensity_per_wavelength.size() = WavelengthData.samples_number.size() // - repeated double intensity_per_wavelength = 2; + repeated double max_intensity_per_wavelength = 2; - // Intensities of emitted electromagnetic wave. + // Distribution of the emitted electromagnetic wave's intensity based on the intensity_per_wavelength as + // maximum value. // - // Unit: % + repeated IntensityDistribution emitted_intensity_distribution = 3; + + // + // \brief Definition of a intensity distribution with a horizontal and a vertical angle + // and the corresponding intensity // - repeated DistributionData EDF = 4; + message IntensityDistribution + { + // Horizontal deflection (azimuth) of emission in emitting object + // coordinates. + // + // Unit: rad + optional double horizontal_angle = 1; + + // Vertical deflection (elevation) of emission in emitting object + // coordinates. + // + // Unit: rad + optional double vertical_angle = 2; + + // Emitted intensity of emitting object at this point for one specific wavelength. + // The value corresponds to the intensity defined in max_intensity_per_wavelength. + // + // Unit: dB + // + optional double intensity = 3; + } } } } From 4d39b13e9fb3dc899f2a5f4f8901a586c53af424 Mon Sep 17 00:00:00 2001 From: "@lukas.elster" <lukas.elster@tu-darmstadt.de> Date: Fri, 28 May 2021 09:26:22 +0200 Subject: [PATCH 087/219] Minor changes due to discussion in working group. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: @lukas.elster <lukas.elster@tu-darmstadt.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index b67634197..2890c3f75 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -344,13 +344,13 @@ message StationaryObject message IntensityDistribution { // Horizontal deflection (azimuth) of emission in emitting object - // coordinates. + // coordinate system. // // Unit: rad optional double horizontal_angle = 1; // Vertical deflection (elevation) of emission in emitting object - // coordinates. + // coordinate system. // // Unit: rad optional double vertical_angle = 2; @@ -358,9 +358,8 @@ message StationaryObject // Emitted intensity of emitting object at this point for one specific wavelength. // The value corresponds to the intensity defined in max_intensity_per_wavelength. // - // Unit: dB - // - optional double intensity = 3; + // Unit: % + optional double relative_intensity = 3; } } } From b023a55d54b6a2a9199430578453d2dc3b9b3fb9 Mon Sep 17 00:00:00 2001 From: "@lukas.elster" <lukas.elster@tu-darmstadt.de> Date: Mon, 14 Jun 2021 09:00:25 +0200 Subject: [PATCH 088/219] Changes in the description based on the CCB review. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: @lukas.elster <lukas.elster@tu-darmstadt.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 32 +++++++++++++++++++++----------- 1 file changed, 21 insertions(+), 11 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 2890c3f75..767f03a08 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -314,17 +314,21 @@ message StationaryObject } // - // \brief Attributes of type emitting structure + // \brief Attributes of type emitting structure. The horizontal_angle and the vertical_angle in + // emitted_spatial_intensity are symmetrical across the normal, which is defined by the mounting position + // of the emitting structure. // message EmittingStructureAttribute { - // This message determines the range of the wavelength and its + // This message determines the range of the emitted wavelength and its // desired number of samples. // repeated WavelengthData wavelength_data = 1; // Original intensities of emitted electromagnetic wave referred to a discrete - // wavelength defined in WavelengthData. This maximum value is weighted based on the IntensityDistribution. + // wavelength defined in WavelengthData. This maximum value is weighted based + // on the emitted spatial intensity. The size of max_intensitiy_per_wavelength has to be + // equal to the samples in wavelength_data. // // Unit: W/m^2 // @@ -332,33 +336,39 @@ message StationaryObject // repeated double max_intensity_per_wavelength = 2; - // Distribution of the emitted electromagnetic wave's intensity based on the intensity_per_wavelength as - // maximum value. + // Spatial distribution of the emitted electromagnetic wave's intensity based on the intensity_per_wavelength as + // maximum value. For every sample in wavelength_data an emitted_spatial_intensity has to be defined. // - repeated IntensityDistribution emitted_intensity_distribution = 3; + // \note emitted_spatial_intensity.size() = WavelengthData.samples_number.size() + // + repeated SpatialIntensity emitted_spatial_intensity = 3; // - // \brief Definition of a intensity distribution with a horizontal and a vertical angle - // and the corresponding intensity + // \brief Definition of a spatial intensity distribution with a horizontal and a vertical angle + // and the corresponding intensity related to a maximum intensity. // - message IntensityDistribution + message SpatialIntensity { // Horizontal deflection (azimuth) of emission in emitting object // coordinate system. // // Unit: rad + // optional double horizontal_angle = 1; // Vertical deflection (elevation) of emission in emitting object // coordinate system. // // Unit: rad + // optional double vertical_angle = 2; - // Emitted intensity of emitting object at this point for one specific wavelength. - // The value corresponds to the intensity defined in max_intensity_per_wavelength. + // Emitted intensity of emitting object at the previously defined horizontal_angle and + // vertical angle for one specific wavelength. The value corresponds to the intensity + // defined in max_intensity_per_wavelength. // // Unit: % + // optional double relative_intensity = 3; } } From 9d9b14bed0da06bc3d5c08addd96915deb5a1c5a Mon Sep 17 00:00:00 2001 From: "@lukas.elster" <lukas.elster@tu-darmstadt.de> Date: Sat, 3 Jul 2021 11:58:16 +0200 Subject: [PATCH 089/219] Moved the distribution definition to osi_common and deleted the max_intensity based on the recommendations of Philipp Rosenberger MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: @lukas.elster <lukas.elster@tu-darmstadt.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 34 ++++++++++++++++++++++++++++++++++ osi_object.proto | 48 ++++-------------------------------------------- 2 files changed, 38 insertions(+), 44 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index e75c1600a..17feeec92 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -579,3 +579,37 @@ message WavelengthData // optional double samples_number = 3; } + +// +// \brief Definition of a spatial signal strength distribution +// for an emitting / transmitting / receiving entity +// with a horizontal and a vertical angle +// and the corresponding signal strength in dBm (decibels per milliwatt). +// +message SpatialSignalStrength +{ + // Horizontal angle (azimuth) of emission / transmission / reception + // in the entity's coordinate system. + // + // Unit: rad + // + optional double horizontal_angle = 1; + + // Vertical angle (elevation) of emission / transmission / reception + // in the entity's coordinate system. + // + // Unit: rad + // + optional double vertical_angle = 2; + + // Emitted / transmitted /received signal strength + // of the emitting / transmitting / receiving entity + // at the previously defined horizontal and + // vertical angle for one specific wavelength. + // The value for the signal strength + // is given in dBm (decibels per milliwatt). + // + // Unit: dBm + // + optional double signal_strength = 3; +} diff --git a/osi_object.proto b/osi_object.proto index 767f03a08..af2d9a232 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -325,52 +325,12 @@ message StationaryObject // repeated WavelengthData wavelength_data = 1; - // Original intensities of emitted electromagnetic wave referred to a discrete - // wavelength defined in WavelengthData. This maximum value is weighted based - // on the emitted spatial intensity. The size of max_intensitiy_per_wavelength has to be - // equal to the samples in wavelength_data. + // Spatial signal strength distribution of the emitted electromagnetic wave. + // For every sample in wavelength_data an emitted_spatial_signal_strength has to be defined. // - // Unit: W/m^2 + // \note emitted_spatial_signal_strength.size() = WavelengthData.samples_number.size() // - // \note max_intensity_per_wavelength.size() = WavelengthData.samples_number.size() - // - repeated double max_intensity_per_wavelength = 2; - - // Spatial distribution of the emitted electromagnetic wave's intensity based on the intensity_per_wavelength as - // maximum value. For every sample in wavelength_data an emitted_spatial_intensity has to be defined. - // - // \note emitted_spatial_intensity.size() = WavelengthData.samples_number.size() - // - repeated SpatialIntensity emitted_spatial_intensity = 3; - - // - // \brief Definition of a spatial intensity distribution with a horizontal and a vertical angle - // and the corresponding intensity related to a maximum intensity. - // - message SpatialIntensity - { - // Horizontal deflection (azimuth) of emission in emitting object - // coordinate system. - // - // Unit: rad - // - optional double horizontal_angle = 1; - - // Vertical deflection (elevation) of emission in emitting object - // coordinate system. - // - // Unit: rad - // - optional double vertical_angle = 2; - - // Emitted intensity of emitting object at the previously defined horizontal_angle and - // vertical angle for one specific wavelength. The value corresponds to the intensity - // defined in max_intensity_per_wavelength. - // - // Unit: % - // - optional double relative_intensity = 3; - } + repeated SpatialSignalStrength emitted_spatial_signal_strength = 3; } } } From 5bf248865d7715f89a7776b224126c72ec07a409 Mon Sep 17 00:00:00 2001 From: Julian Schmidt <bosch.j.schmidt@extaccount.com> Date: Fri, 28 May 2021 15:43:22 +0200 Subject: [PATCH 090/219] change vector in global to vector in local and vice versa MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Julian Schmidt <bosch.j.schmidt@extaccount.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index 17feeec92..dc9de96bd 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -159,9 +159,7 @@ message Dimension3d // \f$ Rotation_{yaw,pitch,roll} = // Rotation_{yaw}*Rotation_{pitch}*Rotation_{roll} \f$ // -// \f$ vector_{\text{global coord system}} := -// Rotation_{yaw,pitch,roll}^{-1}( \f$ \c Orientation3d \f$ -// )*vector_{\text{local coord system}} + local_{origin}\text{::position} \f$ +// \f$ vector_{gobal coord system} := Rotation_{yaw, pitch, roll} * vector_{local coord system} +local_{origin::position} \f$ // // \attention This definition changed in OSI version 3.0.0. Previous OSI // versions (V2.xx) had an other definition. From 3f80758815f1cc96f9a72f6ceea65104a2137647 Mon Sep 17 00:00:00 2001 From: Habedank Clemens <qxs2704@europe.bmw.corp> Date: Mon, 14 Jun 2021 13:42:11 +0200 Subject: [PATCH 091/219] Clarified semantics currently supported with TrafficUpdate MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Habedank Clemens <qxs2704@europe.bmw.corp> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficupdate.proto | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/osi_trafficupdate.proto b/osi_trafficupdate.proto index 5a05344ae..221c29a80 100644 --- a/osi_trafficupdate.proto +++ b/osi_trafficupdate.proto @@ -45,5 +45,9 @@ message TrafficUpdate // or vehicle category. All dynamic fields should be populated where known, // for example, velocity, light states, or future trajectory. // + // \note The field is repeated because it is possible to have a trailer attached to + // a vehicle, see MovingObject::VehicleClassification::has_trailer and + // MovingObject::VehicleClassification::trailer_id. + // repeated MovingObject update = 3; } From fbccf885b2593bc8e4ea1e464885279a94a237c5 Mon Sep 17 00:00:00 2001 From: Habedank Clemens <qxs2704@europe.bmw.corp> Date: Tue, 15 Jun 2021 10:04:39 +0200 Subject: [PATCH 092/219] Add more explanations to TrafficUpdate semantics MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Habedank Clemens <qxs2704@europe.bmw.corp> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficupdate.proto | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/osi_trafficupdate.proto b/osi_trafficupdate.proto index 221c29a80..32844c812 100644 --- a/osi_trafficupdate.proto +++ b/osi_trafficupdate.proto @@ -11,7 +11,9 @@ package osi3; // // \brief The traffic update message is provided by traffic // participant models to provide updates to their position, state -// and future trajectory back to the simulation environment. +// and future trajectory back to the simulation environment. The message is designed +// to update data of exactly ONE traffic participant, optionally with an attached +// trailer. // // \note For reasons of convenience and consistency, the // updated information is provided as a MovingObject. Certain fields From 2a59bb2bd235a22cdf27d6893dfe008da179224b Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Wed, 4 Aug 2021 09:51:41 +0200 Subject: [PATCH 093/219] Decapitalize one, reflow text for even widths MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficupdate.proto | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/osi_trafficupdate.proto b/osi_trafficupdate.proto index 32844c812..965937630 100644 --- a/osi_trafficupdate.proto +++ b/osi_trafficupdate.proto @@ -9,15 +9,15 @@ import "osi_object.proto"; package osi3; // -// \brief The traffic update message is provided by traffic -// participant models to provide updates to their position, state -// and future trajectory back to the simulation environment. The message is designed -// to update data of exactly ONE traffic participant, optionally with an attached -// trailer. +// \brief The traffic update message is provided by traffic participant +// models to provide updates to their position, state and future +// trajectory back to the simulation environment. The message is +// designed to update data of exactly one traffic participant, +// optionally with an attached trailer. // -// \note For reasons of convenience and consistency, the -// updated information is provided as a MovingObject. Certain fields -// of this sub-message are not required to be set and will be ignored by the +// \note For reasons of convenience and consistency, the updated +// information is provided as a MovingObject. Certain fields of this +// sub-message are not required to be set and will be ignored by the // simulation environment, because they are static information. // Instead of creating a seperate message type for only the non-static // information, re-use existing message. From 599849f2b68e82e32f01e74dc19039dce62a5c8c Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 6 Aug 2021 14:25:46 +0200 Subject: [PATCH 094/219] fix(docs): implement review comments (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/formatting_scripts.adoc | 4 ++++ .../reference_points_coordinate_systems.adoc | 4 ++-- doc/architecture/sensor_view_configuration.adoc | 2 +- doc/architecture/trace_file_formats.adoc | 5 +++-- doc/misc/osi_vision.adoc | 1 - doc/releases/v02.00.adoc | 15 +++++++++++---- doc/releases/v03.00.adoc | 3 ++- doc/releases/v03.02.adoc | 3 ++- doc/releases/v03.03.adoc | 3 ++- doc/releases/versioning.adoc | 6 +++--- doc/usecases/modeling_traffic_participant.adoc | 2 +- 11 files changed, 31 insertions(+), 17 deletions(-) diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index 89f69d65a..b30064921 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -46,3 +46,7 @@ The default value is `'converted.txth'`. Optional string containing the format type of the trace file. Allowed values are `'separated'`, or `None`. The default value is `None`. + +**Related topics** + +* xref:#top-1a2f4b0c-195c-4f18-89ad-d48a123bd8c1[OSI trace file formats] \ No newline at end of file diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc index bea9a1314..b7355aa1d 100644 --- a/doc/architecture/reference_points_coordinate_systems.adoc +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -4,11 +4,11 @@ OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between OSI uses three coordinate systems: World coordinate system:: -Coordinate system for all quantities which are part of ground truth. +Coordinate system for all entities which are part of ground truth. The world coordinate system is an inertial x/y/z-coordinate system. Sensor coordinate system:: -Coordinate system for all quantities which are part of sensor data. +Coordinate system for all entities which are part of sensor data. The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the technology. Object coordinate system:: diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index a7ceca4ef..eae97969f 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -5,7 +5,7 @@ There are two sources for sensor-view-configuration data. Sensor-view-configuration data can be provided by the environment simulation. In this case, the data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model. -Sensor-view-configuration data is not intended to provide parameters to a generic sensor model. +Sensor-view-configuration data is not intended to provide parameters to a sensor model. Sensor-view-configuration data can also be provided by the sensor model to the environment simulation. In this case, the data describes the input configuration that is desired by the sensor model. diff --git a/doc/architecture/trace_file_formats.adoc b/doc/architecture/trace_file_formats.adoc index 6ebda516e..cedc65075 100644 --- a/doc/architecture/trace_file_formats.adoc +++ b/doc/architecture/trace_file_formats.adoc @@ -1,10 +1,11 @@ +[#top-1a2f4b0c-195c-4f18-89ad-d48a123bd8c1] = OSI trace file formats There are multiple formats for storing multiple serialized OSI messages into one trace file. *.osi:: Binary trace file. -Messages are separated by a length specifications before each message. +Messages are separated by a length specification before each message. The length is represented by a four-byte, little-endian, unsigned integer. The length does not include the integer itself. @@ -15,4 +16,4 @@ Messages are separated by `$$__$$`. *.txth:: Human-readable plain-text trace file. Messages are separated by newlines. -Such a filen may be used for manual checks. +Such a file may be used for manual checks. diff --git a/doc/misc/osi_vision.adoc b/doc/misc/osi_vision.adoc index 7e69c2273..f9dc39d93 100644 --- a/doc/misc/osi_vision.adoc +++ b/doc/misc/osi_vision.adoc @@ -1,6 +1,5 @@ = The idea of Open Simulation Interface The Open Simulation Interface (OSI) is a specification for interfaces between models and components of a distributed simulation. -OSI uses Google's Protocol Buffers. OSI has a strong focus on environmental perception of automated driving functions. However, OSI also specifies interfaces for modeling traffic participants. \ No newline at end of file diff --git a/doc/releases/v02.00.adoc b/doc/releases/v02.00.adoc index 8d8bffa7e..38f903060 100644 --- a/doc/releases/v02.00.adoc +++ b/doc/releases/v02.00.adoc @@ -5,7 +5,9 @@ This is the initial version of the Open Simulation Interface (OSI). == Overview -OSI is a generic interface for the environmental perception of automated driving functions in virtual scenarios. It is primarily conceived to enable easy and straightforward compatibility between automated driving functions and the variety of driving simulation frameworks available. The data description has been derived from the perspective of sensor modeling for automated test and validation of highly automated driving functions. +OSI is a generic interface for the environmental perception of automated driving functions in virtual scenarios. +It is primarily conceived to enable easy and straightforward compatibility between automated driving functions and the variety of driving simulation frameworks available. +The data description has been derived from the perspective of sensor modeling for automated test and validation of highly automated driving functions. == Implementation @@ -17,9 +19,14 @@ OSI primarily contains an object based environment description using the message Top level interfaces:: OSI consists of two individual top level interfaces for object data: The ``OSI::GroundTruth`` and the ``OSI::SensorData`` interface. + -* The ``OSI::GroundTruth`` interface provides an exact view on the simulated objects in a global coordinate system. This message is populated using the internally available data of the used (driving)-simulation framework and is afterwards published to external subscribers with an exporter plugin. -* The ``OSI::SensorData`` interface describes the objects in the reference frame of a sensor for environmental perception. It is generated from a ``OSI::GroundTruth`` message and can either be used to directly connect to an automated driving function using ideal simulated data, or may serve as input for a sensor model simulating limited perception as a replication of real world sensor behavior. +* The ``OSI::GroundTruth`` interface provides an exact view on the simulated objects in a global coordinate system. +This message is populated using the internally available data of the used (driving)-simulation framework and is afterwards published to external subscribers with an exporter plugin. +* The ``OSI::SensorData`` interface describes the objects in the reference frame of a sensor for environmental perception. +It is generated from a ``OSI::GroundTruth`` message and can either be used to directly connect to an automated driving function using ideal simulated data, or may serve as input for a sensor model simulating limited perception as a replication of real world sensor behavior. Low level interfaces:: + -Additionally to the two top level interfaces, OSI contains an ``OSI::LowLevelData`` message. This message describes the output of a (physical) model of the measurement process before tracking and object hypothesis. It does not deal with object data, but may comprise the geometrical influence of 3D simulations e.g. generating Lidar point clouds with a ray-tracer plugin. In addition this message supports generic radar reflection lists and will be extended to supporting low level camera data in the future. +Additionally to the two top level interfaces, OSI contains an ``OSI::LowLevelData`` message. +This message describes the output of a (physical) model of the measurement process before tracking and object hypothesis. +It does not deal with object data, but may comprise the geometrical influence of 3D simulations e.g. generating Lidar point clouds with a ray-tracer plugin. +In addition this message supports generic radar reflection lists and will be extended to supporting low level camera data in the future. diff --git a/doc/releases/v03.00.adoc b/doc/releases/v03.00.adoc index a1085ab6c..75c25a959 100644 --- a/doc/releases/v03.00.adoc +++ b/doc/releases/v03.00.adoc @@ -2,7 +2,8 @@ == Purpose -This release is a complete rework including the feedback from many OSI users. Thank you! +This release is a complete rework including the feedback from many OSI users. +Thank you! We are aligned with the ongoing discussions for the upcoming ISO 23150 standard for hardware sensor outputs in order to bring simulation and the hardware in the car closer together. == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.0[Content/Changes] diff --git a/doc/releases/v03.02.adoc b/doc/releases/v03.02.adoc index 8927ba80d..28fa51e97 100644 --- a/doc/releases/v03.02.adoc +++ b/doc/releases/v03.02.adoc @@ -4,7 +4,8 @@ https://www.youtube.com/watch?v=SJUhlRoBL8M[Think p(OSI)tive!] == Purpose -The work on the OSI project was until now mainly organized by the BMW AG. In order to enable as many interested parties as possible to contribute to the success of the Open Simulation Interface the project has been transferred to the https://www.asam.net/[ASAM e.V.] which has been made public in the https://www.asam.net/news-media/news/detail/news/bmw-transfers-open-simulation-interface-osi-to-asam/[ASAM press release]. +The work on the OSI project was until now mainly organized by the BMW AG. +In order to enable as many interested parties as possible to contribute to the success of the Open Simulation Interface the project has been transferred to the https://www.asam.net/[ASAM e.V.] which has been made public in the https://www.asam.net/news-media/news/detail/news/bmw-transfers-open-simulation-interface-osi-to-asam/[ASAM press release]. A new chapter in the development of OSI is now opened with the https://www.asam.net/conferences-events/detail/asam-osi-kick-off-workshop/[kickoff workshop] leading to hopefully many project proposals streamlining the efficient future development of the interface. Due to this we decided to focus on the improvement of processes and documentation with this release. diff --git a/doc/releases/v03.03.adoc b/doc/releases/v03.03.adoc index 5cd75b0b9..2ff711f77 100644 --- a/doc/releases/v03.03.adoc +++ b/doc/releases/v03.03.adoc @@ -19,7 +19,8 @@ This minor release highlights the work that has been done on several working pac * Add global model reference to ground truth that can be used to specify the 3D model representing the environment. * Extended the camera sensor view configuration to better support the configuration of the simulation environment. * Added a new field to describe the position of the steering wheel. -* Added a message MovingObjectClassification for classify-able attributes that are shared between different moving object types. Introduced the assigned lane id and the assigned lane percentage of a moving object there. +* Added a message MovingObjectClassification for classify-able attributes that are shared between different moving object types. + Introduced the assigned lane id and the assigned lane percentage of a moving object there. * Updated to checklist for pull requests to provide clearer orientation for all users. * Updated the documentation of centerline and lane boundaries (ordering of the points, describing those lines). diff --git a/doc/releases/versioning.adoc b/doc/releases/versioning.adoc index 1e38c71f6..afbabdbc7 100644 --- a/doc/releases/versioning.adoc +++ b/doc/releases/versioning.adoc @@ -10,10 +10,10 @@ A change of the major version results in an incompatibility of code and recorded Major changes include: + * An existing field with a number changes its meaning. -Example: `optional double field = 1;` -> `repeated double field = 1;`. -* Changing the definition of units or interpretation of a field. +Example: `optional double field = 1;` changes to `repeated double field = 1;`. +* Changing the definition of units or the interpretation of a field. * Deleting a field and reusing the field number. -* Changing the technology ProtoBuffer -> FlatBuffer. +* Changing the technology from Protocol Buffer to FlatBuffer. Minor:: A change of the minor version indicates remaining compatibility to previously recorded files. diff --git a/doc/usecases/modeling_traffic_participant.adoc b/doc/usecases/modeling_traffic_participant.adoc index b5ea466ba..1b8edbd80 100644 --- a/doc/usecases/modeling_traffic_participant.adoc +++ b/doc/usecases/modeling_traffic_participant.adoc @@ -30,7 +30,7 @@ The following figure shows a more complex traffic participant. image::{images_open_simulation_interface}/osi-traffic-participant-use-case-3.png[1100] This use case will probably be relevant for modeling the ego vehicle, which includes the system-under-test. -The traffic participant includes an arbitrary number of sensor models +The traffic participant includes an arbitrary number of sensor models. The sensor models consume sensor view and produce sensor data. The AD function consumes sensor data and produces input for the dynamics model. OSI currently does not support data flow to dynamics models. From 0375f2ff26bdd054b358dec785c5242232779572 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 6 Aug 2021 14:40:50 +0200 Subject: [PATCH 095/219] fix(docs): fix typo (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/releases/versioning.adoc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/releases/versioning.adoc b/doc/releases/versioning.adoc index afbabdbc7..f71002be7 100644 --- a/doc/releases/versioning.adoc +++ b/doc/releases/versioning.adoc @@ -1,6 +1,6 @@ = Versioning -The version number is defined in `InterfaceVersion::version_number` in `osi_common.proto` as the field’s default value. +The version number is defined in `InterfaceVersion::version_number` in `osi_version.proto` as the field’s default value. OSI uses https://semver.org/[Semantic Versioning]. @@ -13,7 +13,7 @@ Major changes include: Example: `optional double field = 1;` changes to `repeated double field = 1;`. * Changing the definition of units or the interpretation of a field. * Deleting a field and reusing the field number. -* Changing the technology from Protocol Buffer to FlatBuffer. +* Changing the technology from Protocol Buffers to FlatBuffers. Minor:: A change of the minor version indicates remaining compatibility to previously recorded files. From 1641ef9dd66da1171915369af7bf1567dd1ddb02 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 6 Aug 2021 14:40:50 +0200 Subject: [PATCH 096/219] fix(docs): implement review comments (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/reference_points_coordinate_systems.adoc | 1 - doc/architecture/sensor_model.adoc | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc index b7355aa1d..381a984e0 100644 --- a/doc/architecture/reference_points_coordinate_systems.adoc +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -14,4 +14,3 @@ The origin is the mounting position of the physical sensor or a virtual mounting Object coordinate system:: Coordinate system for local object coordinates. The origin of the corresponding coordinate systems is not necessarily identical to the center of the object's bounding box. -For example with vehicles, the origin is the middle of the rear axle projected onto the ground. diff --git a/doc/architecture/sensor_model.adoc b/doc/architecture/sensor_model.adoc index 1fe83a815..65b63d565 100644 --- a/doc/architecture/sensor_model.adoc +++ b/doc/architecture/sensor_model.adoc @@ -3,4 +3,4 @@ Sensor models consume sensor-view messages and produce sensor-data messages. Those models can be based on physics or phenomenological. -Sensor-model output does not represent raw data, but detected features or classified objects. \ No newline at end of file +Sensor-model output does not represent raw data but detected features or classified objects. \ No newline at end of file From a849a7ae8418428854ec7b7958a36748ce810b1b Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 6 Aug 2021 16:54:06 +0200 Subject: [PATCH 097/219] fix(docs): implement review comments (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .../reference_points_coordinate_systems.adoc | 7 +++++-- doc/architecture/sensor_view.adoc | 3 ++- doc/architecture/sensor_view_configuration.adoc | 12 +++++++----- doc/setup/installing_linux_cpp.adoc | 2 +- 4 files changed, 15 insertions(+), 9 deletions(-) diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc index 381a984e0..d98a9be10 100644 --- a/doc/architecture/reference_points_coordinate_systems.adoc +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -6,11 +6,14 @@ OSI uses three coordinate systems: World coordinate system:: Coordinate system for all entities which are part of ground truth. The world coordinate system is an inertial x/y/z-coordinate system. +The origin is the global reference point, which is determined by the environment simulation. +This reference point may be derived from map data or other considerations. +World coordinates can be mapped to a geographic coordinate system via `osi3::GroundTruth::proj_string`. Sensor coordinate system:: Coordinate system for all entities which are part of sensor data. -The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the technology. +The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the OSI message. Object coordinate system:: -Coordinate system for local object coordinates. +Local object coordinate system. The origin of the corresponding coordinate systems is not necessarily identical to the center of the object's bounding box. diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index 8ca3e2b65..4b256a5ae 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -1,8 +1,9 @@ = Sensor view -Sensor view imitates the input of sensors. +Sensor view provides the input to OSI sensor models. Sensor-view messages are derived from ground-truth messages. All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: * Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position. + Example: https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1CameraSensorView.html#ac58456a34babf78792ea2608eb963f36[`image_data` of `osi3::CameraSensorView`] * Ground truth, given in the global coordinate system. \ No newline at end of file diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index eae97969f..8afb77b47 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,15 +1,17 @@ = Sensor view configuration The sensor view configuration configures the sensor view. +Sensor-view-configuration data enables the environment simulation to supply the necessary input to a sensor model. + There are two sources for sensor-view-configuration data. Sensor-view-configuration data can be provided by the environment simulation. -In this case, the data is intended for the automatic configuration of an environment simulation in order to supply the necessary input to a sensor model. +Note that the data is intended for the automatic configuration of an environment simulation. Sensor-view-configuration data is not intended to provide parameters to a sensor model. Sensor-view-configuration data can also be provided by the sensor model to the environment simulation. -In this case, the data describes the input configuration that is desired by the sensor model. +In this case, the data describes the input configuration that is requested by the sensor model. In response, the environment simulation will configure the input and provide a new message which describes the actual configuration. -The configuration requested by the sensor model may differ from the actual configuration. -This happens when the environment simulation does not support a given requested configuration or when the requested configuration allowed is ambiguous. -The message describing the requested configuration differs from the message describing the actual configuration. +The configuration requested by the sensor model may differ from the configuration provided by the simulation environment. +This happens when the environment simulation does not support a requested configuration or when the requested configuration is ambiguous. +The message describing the configuration requested by the sensor model differs from the message describing the configuration provided by the simulation environment. diff --git a/doc/setup/installing_linux_cpp.adoc b/doc/setup/installing_linux_cpp.adoc index 590d1667d..c743b197b 100644 --- a/doc/setup/installing_linux_cpp.adoc +++ b/doc/setup/installing_linux_cpp.adoc @@ -38,7 +38,7 @@ cd build ---- + . Run cmake. - To build a 32-bit target under 64-bit linux, add `-DCMAKE_CXX_FLAGS="-m32"` to the cmake command. + To build a 32-bit target under 64-bit Linux, add `-DCMAKE_CXX_FLAGS="-m32"` to the cmake command. In this case, protobuf must be in 32-bit mode too. + [source] From e54ac94587d1d69a2af1bca36e6fcbb339448958 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 6 Aug 2021 17:24:26 +0200 Subject: [PATCH 098/219] fix(docs): Implement review comments (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/releases/v03.03.adoc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/doc/releases/v03.03.adoc b/doc/releases/v03.03.adoc index 2ff711f77..457c12e21 100644 --- a/doc/releases/v03.03.adoc +++ b/doc/releases/v03.03.adoc @@ -34,5 +34,6 @@ This minor release highlights the work that has been done on several working pac == https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/18?closed=1[Content/Changes] -* **Bug Fix**: Fixed outdated version information in VERSION file in 3.3.0. This lead to wrong versioning in proto definitions and Doxygen documentation. +* **Bug Fix**: Fixed outdated version information in VERSION file in 3.3.0. +This led to wrong versioning in proto definitions and Doxygen documentation. * **Bug Fix**: Removed outdated picture in README.md. From 1e0549110837d240b90d3e2b6b15cbe552512b15 Mon Sep 17 00:00:00 2001 From: caspar-ai <caspar.dehaes@five.ai> Date: Tue, 10 Aug 2021 10:24:49 +0100 Subject: [PATCH 099/219] Apply suggestions from code review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: max-rosin <62103539+max-rosin@users.noreply.github.com> Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficcommand.proto | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/osi_trafficcommand.proto b/osi_trafficcommand.proto index 1d5b762c1..6bd2da8d4 100644 --- a/osi_trafficcommand.proto +++ b/osi_trafficcommand.proto @@ -487,17 +487,17 @@ message TrafficAction // optional ActionHeader action_header = 1; - // The custom command given to the traffic participant. Used to convey a specific instruction - // (for example "exit_highway"), or event (for example "left_indicator_activated"). + // The custom command given to the traffic participant. Used to convey a specific instruction + // (for example, "exit_highway"), or event (for example, "left_indicator_activated"). // // \note This corresponds to the content of the OpenSCENARIO 1.0 CustomCommandAction field. // optional string command = 2; - // The type of the custom command given to the traffic participant. Can be used to simplify - // how commands are grouped, for example the command_type could be "sensor_failure" and the - // command value (above) could be "front_right_camera". This prevents needing long commands - // (like "sensor_failure: front_right_camera"). + // The type of the custom command given to the traffic participant. Can be used to simplify + // how commands are grouped. For example, the command_type could be "sensor_failure" and the + // command value could be "front_right_camera". This avoids long commands, like + //"sensor_failure: front_right_camera". // // \note This corresponds to the "type" attribute of the OpenSCENARIO 1.0 CustomCommandAction. // From 8ee6ef87de7c76486e2bbba19be51d822b3f658d Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Thu, 12 Aug 2021 09:03:20 +0200 Subject: [PATCH 100/219] fix(docs): Remove lorem ipsum (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/vehicle_dynamics.adoc | 8 +------ doc/setup/including_osi_dev_projects.adoc | 23 ++++++++++++------- doc/setup/installing_macos.adoc | 23 ++++++++++++------- doc/setup/using_osi_support_tools.adoc | 22 ++++++++++++------ .../benchmark_integration_gpu_radar.adoc | 22 +++++++++++------- doc/usecases/fusing_sensor_outputs.adoc | 23 ++++++++++++------- doc/usecases/generating_osi_traces.adoc | 22 ++++++++++++------ doc/usecases/injecting_faults.adoc | 23 ++++++++++++------- doc/usecases/modeling_camera_electronics.adoc | 23 ++++++++++++------- doc/usecases/modeling_lidar_sensor.adoc | 21 ++++++++++------- 10 files changed, 133 insertions(+), 77 deletions(-) diff --git a/doc/architecture/vehicle_dynamics.adoc b/doc/architecture/vehicle_dynamics.adoc index ff7d9c2b2..bb2faea14 100644 --- a/doc/architecture/vehicle_dynamics.adoc +++ b/doc/architecture/vehicle_dynamics.adoc @@ -1,9 +1,3 @@ = Vehicle dynamics -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +TODO: Content to be added in future release. diff --git a/doc/setup/including_osi_dev_projects.adoc b/doc/setup/including_osi_dev_projects.adoc index 551972c37..15c3d3153 100644 --- a/doc/setup/including_osi_dev_projects.adoc +++ b/doc/setup/including_osi_dev_projects.adoc @@ -1,10 +1,17 @@ = Including OSI in development projects -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +TODO: Content to be added in future release. + +// TODO: Add description of this task. + +**Prerequisites** + +//TODO: Add prerequisites. + +**Steps** + +// TODO: Add steps. + +**Result** + +// TODO: Add result. \ No newline at end of file diff --git a/doc/setup/installing_macos.adoc b/doc/setup/installing_macos.adoc index 84e70b499..4fffb36c3 100644 --- a/doc/setup/installing_macos.adoc +++ b/doc/setup/installing_macos.adoc @@ -1,10 +1,17 @@ = Installing OSI on MacOS -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +TODO: Content to be added in future release. + +// TODO: Add description of this task. + +**Prerequisites** + +//TODO: Add prerequisites. + +**Steps** + +// TODO: Add steps. + +**Result** + +// TODO: Add result. \ No newline at end of file diff --git a/doc/setup/using_osi_support_tools.adoc b/doc/setup/using_osi_support_tools.adoc index 9f598ee25..952260da1 100644 --- a/doc/setup/using_osi_support_tools.adoc +++ b/doc/setup/using_osi_support_tools.adoc @@ -1,9 +1,17 @@ = Using OSI supporting tools -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +TODO: Content to be added in future release. + +// TODO: Add description of this task. + +**Prerequisites** + +//TODO: Add prerequisites. + +**Steps** + +// TODO: Add steps. + +**Result** + +// TODO: Add result. \ No newline at end of file diff --git a/doc/usecases/benchmark_integration_gpu_radar.adoc b/doc/usecases/benchmark_integration_gpu_radar.adoc index 6b460386f..83d2098ef 100644 --- a/doc/usecases/benchmark_integration_gpu_radar.adoc +++ b/doc/usecases/benchmark_integration_gpu_radar.adoc @@ -1,12 +1,18 @@ = Benchmarking and integration: OSI-GPU-radar +TODO: Content to be added in future release. TODO: Clarify content of this use case and make title more clear -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +// TODO: Add extensive description of this use case. + +**Prerequisites** + +// TODO: Add prerequisites for this use case. + +**Corresponding messages** + +// TODO: Add and describe messages relevant to this use case. + +**Example** + +// TODO: Add one or more relevant examples. \ No newline at end of file diff --git a/doc/usecases/fusing_sensor_outputs.adoc b/doc/usecases/fusing_sensor_outputs.adoc index e88e63d69..0d20baf54 100644 --- a/doc/usecases/fusing_sensor_outputs.adoc +++ b/doc/usecases/fusing_sensor_outputs.adoc @@ -1,10 +1,17 @@ = Fusing sensor outputs -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +TODO: Content to be added in future release. + +// TODO: Add extensive description of this use case. + +**Prerequisites** + +// TODO: Add prerequisites for this use case. + +**Corresponding messages** + +// TODO: Add and describe messages relevant to this use case. + +**Example** + +// TODO: Add one or more relevant examples. \ No newline at end of file diff --git a/doc/usecases/generating_osi_traces.adoc b/doc/usecases/generating_osi_traces.adoc index 768094df0..2dd888a7e 100644 --- a/doc/usecases/generating_osi_traces.adoc +++ b/doc/usecases/generating_osi_traces.adoc @@ -1,9 +1,17 @@ = Generating OSI traces -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +TODO: Content to be added in future release. + +// TODO: Add extensive description of this use case. + +**Prerequisites** + +// TODO: Add prerequisites for this use case. + +**Corresponding messages** + +// TODO: Add and describe messages relevant to this use case. + +**Example** + +// TODO: Add one or more relevant examples. \ No newline at end of file diff --git a/doc/usecases/injecting_faults.adoc b/doc/usecases/injecting_faults.adoc index 2a3696151..047d55c9a 100644 --- a/doc/usecases/injecting_faults.adoc +++ b/doc/usecases/injecting_faults.adoc @@ -1,10 +1,17 @@ = Injecting faults -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +TODO: Content to be added in future release. + +// TODO: Add extensive description of this use case. + +**Prerequisites** + +// TODO: Add prerequisites for this use case. + +**Corresponding messages** + +// TODO: Add and describe messages relevant to this use case. + +**Example** + +// TODO: Add one or more relevant examples. diff --git a/doc/usecases/modeling_camera_electronics.adoc b/doc/usecases/modeling_camera_electronics.adoc index c74269338..a9cd48a70 100644 --- a/doc/usecases/modeling_camera_electronics.adoc +++ b/doc/usecases/modeling_camera_electronics.adoc @@ -1,10 +1,17 @@ = Modeling camera electronics -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +TODO: Content to be added in future release. + +// TODO: Add extensive description of this use case. + +**Prerequisites** + +// TODO: Add prerequisites for this use case. + +**Corresponding messages** + +// TODO: Add and describe messages relevant to this use case. + +**Example** + +// TODO: Add one or more relevant examples. \ No newline at end of file diff --git a/doc/usecases/modeling_lidar_sensor.adoc b/doc/usecases/modeling_lidar_sensor.adoc index 55e41fac5..45552354b 100644 --- a/doc/usecases/modeling_lidar_sensor.adoc +++ b/doc/usecases/modeling_lidar_sensor.adoc @@ -1,10 +1,15 @@ = Modeling a LIDAR sensor -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +// TODO: Add extensive description of this use case. + +**Prerequisites** + +// TODO: Add prerequisites for this use case. + +**Corresponding messages** + +// TODO: Add and describe messages relevant to this use case. + +**Example** + +// TODO: Add one or more relevant examples. \ No newline at end of file From bb2d258f97d1757b8cdd12585c7b33143a8361c0 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin <maximilian.rosin@parson-europe.com> Date: Fri, 13 Aug 2021 14:41:27 +0200 Subject: [PATCH 101/219] fix(docs): Fix typos (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Maximilian Rosin <maximilian.rosin@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/architecture_overview.adoc | 2 +- doc/architecture/feature_data.adoc | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 0d6983198..1cf07edda 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -25,7 +25,7 @@ The following figure shows a more advanced use case for traffic participants. image::{images_open_simulation_interface}/osi-traffic-participant-advanced.png[1100] The ``HostVehicleData`` interface describes the measured internal states of a traffic participant -OSI currently provides only limited support for data structures describing measured internal states traffic participants. +OSI currently provides only limited support for data structures describing measured internal states of traffic participants. Actuator intentions are currently not covered by OSI and must be handled with a different data description format. All fields in an interface are set to `optional`. diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc index de00650b1..a92720506 100644 --- a/doc/architecture/feature_data.adoc +++ b/doc/architecture/feature_data.adoc @@ -1,5 +1,5 @@ = Feature data -Feature-data messages contains detected features in the reference frame of a sensor. +Feature-data messages contain detected features in the reference frame of a sensor. Feature-data messages are generated from ground-truth messages. -It serves, for example, as input for sensor models simulating object detection or feature fusion models. +They serve, for example, as input to sensor models simulating object detection or feature fusion models. From 70cbce93abc823dfc10d5ec9ea18585f3373b8ad Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Wed, 18 Aug 2021 10:49:46 +0200 Subject: [PATCH 102/219] Add packaging and data layer definition drafts MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/data_layer.adoc | 17 +++++++++-------- doc/architecture/packaging_layer.adoc | 15 ++++++++------- 2 files changed, 17 insertions(+), 15 deletions(-) diff --git a/doc/architecture/data_layer.adoc b/doc/architecture/data_layer.adoc index 7f23e28c7..59d13e9da 100644 --- a/doc/architecture/data_layer.adoc +++ b/doc/architecture/data_layer.adoc @@ -1,10 +1,11 @@ = Data layer -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. -Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +The data layer of OSI resides in the message specifications given using the ProtoBuf IDL. +It defines the data that can be transmitted using OSI, including the structure and semantics of the data. + +As a second part it also specifies the encoding(s) to be used when transmitting OSI data. +Currently this is the ProtoBuf encoding, but other encodings can be supported from the same IDL, with FlatBuffer encoding a currently experimental feature. + +The data layer does not directly define components and transmission routes, which are relegated to the packaging layer of OSI. +There can be many packaging layer implementations using the common data layer definitions. +This also enables easy bridging of information between components using different packaging layer implementations, since the data being exchanged remains compatible. \ No newline at end of file diff --git a/doc/architecture/packaging_layer.adoc b/doc/architecture/packaging_layer.adoc index 2a42960e6..d9768451a 100644 --- a/doc/architecture/packaging_layer.adoc +++ b/doc/architecture/packaging_layer.adoc @@ -1,9 +1,10 @@ = Packaging layer -Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua. -Et malesuada fames ac turpis egestas. -Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi. -Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis. -Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse. -Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a. -Diam vel quam elementum pulvinar etiam non quam lacus suspendisse. \ No newline at end of file +The packaging layer of OSI specifies the way that components (e.g. models) employing the OSI data layer can be packaged in order to achieve easy interoperability. + +It specifies model types (e.g. sensor model, traffic participant model), together with mandatory and optional OSI inputs, outputs, parameter interfaces. +It also specifies specific component technology standards to allow encapsulation of those model types in easily exchangeable component packages, that allow use across platforms and implementations. + +Multiple packaging layer implementations are possible within the OSI framework, with the common data layer ensuring ease of bridging between multiple implementations. +The current centrally defined packaging layer is the OSI Sensor Model Packaging (OSMP) specification. +It is defined based on FMI 2.0 and certain additional conventions to allow packaging of OSI using models as FMUs. \ No newline at end of file From d7856234cd59fc50db10d4793ae579c6532b5c2a Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Wed, 18 Aug 2021 12:54:04 +0200 Subject: [PATCH 103/219] Commit CCB review results for doc migration MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/sensor_model.adoc | 1 - doc/architecture/sensor_view.adoc | 2 +- .../sensor_view_configuration.adoc | 4 ++-- doc/architecture/trace_file_naming.adoc | 18 ++++++++++++++---- doc/releases/versioning.adoc | 2 +- .../transforming_coordinate_systems.adoc | 10 +++++++--- 6 files changed, 25 insertions(+), 12 deletions(-) diff --git a/doc/architecture/sensor_model.adoc b/doc/architecture/sensor_model.adoc index 65b63d565..9bf981079 100644 --- a/doc/architecture/sensor_model.adoc +++ b/doc/architecture/sensor_model.adoc @@ -1,6 +1,5 @@ = Sensor model Sensor models consume sensor-view messages and produce sensor-data messages. -Those models can be based on physics or phenomenological. Sensor-model output does not represent raw data but detected features or classified objects. \ No newline at end of file diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index 4b256a5ae..fde15f6e3 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -5,5 +5,5 @@ Sensor-view messages are derived from ground-truth messages. All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: * Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position. - Example: https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1CameraSensorView.html#ac58456a34babf78792ea2608eb963f36[`image_data` of `osi3::CameraSensorView`] + Example of technology-specific data: https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1CameraSensorView.html#ac58456a34babf78792ea2608eb963f36[`image_data` of `osi3::CameraSensorView`] * Ground truth, given in the global coordinate system. \ No newline at end of file diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index 8afb77b47..d7ed27192 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -12,6 +12,6 @@ Sensor-view-configuration data is not intended to provide parameters to a sensor Sensor-view-configuration data can also be provided by the sensor model to the environment simulation. In this case, the data describes the input configuration that is requested by the sensor model. In response, the environment simulation will configure the input and provide a new message which describes the actual configuration. -The configuration requested by the sensor model may differ from the configuration provided by the simulation environment. +The configuration requested by the sensor model may differ from the configuration provided by the environment simulation. This happens when the environment simulation does not support a requested configuration or when the requested configuration is ambiguous. -The message describing the configuration requested by the sensor model differs from the message describing the configuration provided by the simulation environment. +The message describing the configuration requested by the sensor model differs from the message describing the configuration provided by the environment simulation. diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc index 951b17c69..225bce382 100644 --- a/doc/architecture/trace_file_naming.adoc +++ b/doc/architecture/trace_file_naming.adoc @@ -6,7 +6,7 @@ Names of OSI trace files should have the following format: [source] ---- -<type>_<osi-version>_<protobuf-version>_<frame-number>_<custom-trace-name>.osi +<timestamp>_<type>_<osi-version>_<protobuf-version>_<number-of-frames>_<custom-trace-name>.osi ---- **Types** @@ -20,12 +20,22 @@ Trace file contains sensor-view messages. `gt`:: Trace file contains ground-truth messages. +`tu`:: +Trace file contains traffic-update messages. + +`tc`:: +Trace file contains traffic-command messages. + + **Example** Given an OSI trace file with the following information: [cols="1,1"] |=== +|Timestamp (ISO 8601) +|20210818T150542Z + |Type |SensorView @@ -38,13 +48,13 @@ Given an OSI trace file with the following information: |Number of frames |1523 -|Scenario name +|Custom Trace Name |highway |=== -The recommend file name is: +The recommended file name is: [source] ---- -sv_312_300_1523_highway.osi +20210818T150542Z_sv_312_300_1523_highway.osi ---- diff --git a/doc/releases/versioning.adoc b/doc/releases/versioning.adoc index f71002be7..0bd6b323a 100644 --- a/doc/releases/versioning.adoc +++ b/doc/releases/versioning.adoc @@ -1,4 +1,4 @@ -= Versioning += Versioning and Compatibility The version number is defined in `InterfaceVersion::version_number` in `osi_version.proto` as the field’s default value. diff --git a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc index ebf98fd29..0cfbd90ee 100644 --- a/doc/usecases/transforming_coordinate_systems.adoc +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -1,7 +1,11 @@ -= Transforming coordinate systems += Coordinate Transformations -Transforming coordinates for a specific vehicle or sensor is a common task when running simulations. -OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between coordinate systems. +== Vehicle and Sensor Coordinate Systems + +Transforming coordinates from the world coordinate system for a specific vehicle and its sensors is a common task when running simulations. + +This section provides an overview of the involved messages, fields and their relationship for this task. +It demonstrates how world coordinate system, vehicle coordinate system, and sensor coordinate system are related for a specific (ego-)vehicle. //TODO: Should we add one or more sentences about the mathematical operations involved? From 9687c4b6a24c7529b722f9a5e7996b72823c2c40 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Thu, 19 Aug 2021 11:35:30 +0200 Subject: [PATCH 104/219] Fix language issues in data and packaging layer MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/data_layer.adoc | 10 +++++----- doc/architecture/packaging_layer.adoc | 8 ++++---- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/doc/architecture/data_layer.adoc b/doc/architecture/data_layer.adoc index 59d13e9da..950209a94 100644 --- a/doc/architecture/data_layer.adoc +++ b/doc/architecture/data_layer.adoc @@ -3,9 +3,9 @@ The data layer of OSI resides in the message specifications given using the ProtoBuf IDL. It defines the data that can be transmitted using OSI, including the structure and semantics of the data. -As a second part it also specifies the encoding(s) to be used when transmitting OSI data. -Currently this is the ProtoBuf encoding, but other encodings can be supported from the same IDL, with FlatBuffer encoding a currently experimental feature. +Additionally, it also specifies the encoding(s) to be used when transmitting OSI data. +Currently, this is the ProtoBuf encoding, but other encodings can be supported from the same IDL, with FlatBuffer encoding a currently experimental feature. -The data layer does not directly define components and transmission routes, which are relegated to the packaging layer of OSI. -There can be many packaging layer implementations using the common data layer definitions. -This also enables easy bridging of information between components using different packaging layer implementations, since the data being exchanged remains compatible. \ No newline at end of file +The data layer does not directly define components and transmission routes, which are defined in the packaging layer of OSI. +There can be many packaging layer implementations using the shared data layer definitions. +The flexibility this gives enables easy bridging of information between components using different packaging layer implementations since the data that is exchanged remains compatible. \ No newline at end of file diff --git a/doc/architecture/packaging_layer.adoc b/doc/architecture/packaging_layer.adoc index d9768451a..b1c51966c 100644 --- a/doc/architecture/packaging_layer.adoc +++ b/doc/architecture/packaging_layer.adoc @@ -1,10 +1,10 @@ = Packaging layer -The packaging layer of OSI specifies the way that components (e.g. models) employing the OSI data layer can be packaged in order to achieve easy interoperability. +The packaging layer of OSI specifies how components (like sensor models) using the OSI data layer are packaged for exchange. -It specifies model types (e.g. sensor model, traffic participant model), together with mandatory and optional OSI inputs, outputs, parameter interfaces. -It also specifies specific component technology standards to allow encapsulation of those model types in easily exchangeable component packages, that allow use across platforms and implementations. +It specifies model types (like sensor model, traffic participant model) and their mandatory and optional OSI inputs, outputs, and parameter interfaces. +It also specifies specific component technology standards to allow encapsulation of those model types in easily exchangeable component packages that enable use across platforms and implementations. -Multiple packaging layer implementations are possible within the OSI framework, with the common data layer ensuring ease of bridging between multiple implementations. +Multiple packaging layer implementations are possible within the OSI framework, with the shared data layer ensuring ease of bridging between different implementations. The current centrally defined packaging layer is the OSI Sensor Model Packaging (OSMP) specification. It is defined based on FMI 2.0 and certain additional conventions to allow packaging of OSI using models as FMUs. \ No newline at end of file From 5a47ffedce13b2bffd4a81b567a118f951691fe4 Mon Sep 17 00:00:00 2001 From: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Date: Wed, 25 Aug 2021 09:23:32 +0200 Subject: [PATCH 105/219] style(docs): linguistic review (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/architecture_overview.adoc | 16 +++++++++------- doc/architecture/data_layer.adoc | 17 ++++++++++------- doc/architecture/formatting_scripts.adoc | 2 +- doc/architecture/packaging_layer.adoc | 15 +++++++++------ .../reference_points_coordinate_systems.adoc | 6 +++--- .../sensor_view_configuration.adoc | 19 ++++++++++--------- 6 files changed, 42 insertions(+), 33 deletions(-) diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 1cf07edda..6f146eb41 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -1,8 +1,9 @@ = Overview of OSI architecture -OSI contains an object-based environment description using the message format of the https://github.com/protocolbuffers/protobuf/wiki[Protocol Buffer] library developed and maintained by Google. +OSI contains an object-based environment description that uses the message format of the https://github.com/protocolbuffers/protobuf/wiki[Protocol Buffer] library. +The Protocol Buffer library was developed and is maintained by Google. 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 ``SensorView``, ``SensorViewConfiguration`` and ``FeatureData`` interfaces. +Top-level messages define the `GroundTruth` interface, the `SensorData` interface, and – since OSI version 3.0.0 – the interfaces `SensorView`, `SensorViewConfiguration`, and `FeatureData`. The following figure shows the interfaces and models involved in modeling a sensor. @@ -11,8 +12,8 @@ image::{images_open_simulation_interface}/osi-context.png[1100] OSI also defines interfaces for traffic participant models. -The ``TrafficCommand`` interface allows to send commands to traffic participant models. -The ``TrafficUpdate`` interface allows to receive their updated state. +The `TrafficCommand` interface makes it possible to send commands to traffic participant models. +The `TrafficUpdate` interface makes it possible to receive the updated state from traffic participant models. The following figure shows the interfaces of a generic traffic participant. .Interface of a traffic participant @@ -24,14 +25,15 @@ The following figure shows a more advanced use case for traffic participants. .Traffic participant with sensor models, AD function, and dynamic model image::{images_open_simulation_interface}/osi-traffic-participant-advanced.png[1100] -The ``HostVehicleData`` interface describes the measured internal states of a traffic participant -OSI currently provides only limited support for data structures describing measured internal states of traffic participants. +The `HostVehicleData` interface describes the measured internal states of a traffic participant. +OSI currently provides only limited support for data structures that describe measured internal states of traffic participants. Actuator intentions are currently not covered by OSI and must be handled with a different data description format. All fields in an interface are set to `optional`. `required` is not used. This has been done to allow backward-compatible changes in the field. -Additionally, this is the default behavior in Protocol Buffer version 3 that does no longer have the `required` type and therefore ensures update compatibility. +Additionally, this is the default behavior in Protocol Buffer version 3 that does no longer have the `required` type. +Setting all fields to `optional` thus ensures update compatibility. However, this does not mean that filling the field is optional. For the purpose of providing a complete interface, all existing fields should be set, unless not setting a field carries a specific meaning as indicated in the accompanying comment. diff --git a/doc/architecture/data_layer.adoc b/doc/architecture/data_layer.adoc index 950209a94..2c3959bfd 100644 --- a/doc/architecture/data_layer.adoc +++ b/doc/architecture/data_layer.adoc @@ -1,11 +1,14 @@ = Data layer -The data layer of OSI resides in the message specifications given using the ProtoBuf IDL. -It defines the data that can be transmitted using OSI, including the structure and semantics of the data. +The data layer of OSI is defined in the message specifications using the ProtoBuf IDL. +It defines the data that can be transmitted using OSI, including the structure and the semantics of the data. -Additionally, it also specifies the encoding(s) to be used when transmitting OSI data. -Currently, this is the ProtoBuf encoding, but other encodings can be supported from the same IDL, with FlatBuffer encoding a currently experimental feature. +Additionally, it specifies the encoding to be used when OSI data is transmitted. +Currently, ProtoBuf encoding is used, but other encodings are possible with the ProtoBuf IDL. +FlatBuffer encoding has been implemented as an experimental feature. -The data layer does not directly define components and transmission routes, which are defined in the packaging layer of OSI. -There can be many packaging layer implementations using the shared data layer definitions. -The flexibility this gives enables easy bridging of information between components using different packaging layer implementations since the data that is exchanged remains compatible. \ No newline at end of file +The data layer does not directly define components and transmission routes. +These are defined in the packaging layer of OSI. +There may be different packaging layer implementations using the shared data layer definitions. +The data that is exchanged remains compatible regardless of the packaging layer implementation. +The use of a shared data layer ensures easy bridging between different packaging layer implementations. \ No newline at end of file diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index b30064921..8bed56627 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -49,4 +49,4 @@ The default value is `None`. **Related topics** -* xref:#top-1a2f4b0c-195c-4f18-89ad-d48a123bd8c1[OSI trace file formats] \ No newline at end of file +* <<#top-1a2f4b0c-195c-4f18-89ad-d48a123bd8c1>>[OSI trace file formats] \ No newline at end of file diff --git a/doc/architecture/packaging_layer.adoc b/doc/architecture/packaging_layer.adoc index b1c51966c..386394dcf 100644 --- a/doc/architecture/packaging_layer.adoc +++ b/doc/architecture/packaging_layer.adoc @@ -1,10 +1,13 @@ = Packaging layer -The packaging layer of OSI specifies how components (like sensor models) using the OSI data layer are packaged for exchange. +The packaging layer of OSI specifies how components that use the OSI data layer, for example, sensor models, are packaged for exchange. -It specifies model types (like sensor model, traffic participant model) and their mandatory and optional OSI inputs, outputs, and parameter interfaces. -It also specifies specific component technology standards to allow encapsulation of those model types in easily exchangeable component packages that enable use across platforms and implementations. +It specifies model types and their mandatory and optional OSI inputs, OSI outputs, and parameter interfaces. +A model type may be, for example, a sensor model or a traffic participant model. +The packaging layer also specifies component technology standards. +This makes it possible to encapsulate model types in easily exchangeable component packages that can be used across platforms and implementations. -Multiple packaging layer implementations are possible within the OSI framework, with the shared data layer ensuring ease of bridging between different implementations. -The current centrally defined packaging layer is the OSI Sensor Model Packaging (OSMP) specification. -It is defined based on FMI 2.0 and certain additional conventions to allow packaging of OSI using models as FMUs. \ No newline at end of file +Multiple packaging layer implementations are possible within the OSI framework. +The shared data layer ensures easy bridging between the different implementations. +The currently defined central packaging layer is the OSI Sensor Model Packaging (OSMP) specification. +It is based on FMI 2.0 and uses certain additional conventions to allow packaging of OSI using models as FMUs. \ No newline at end of file diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc index d98a9be10..0a749446b 100644 --- a/doc/architecture/reference_points_coordinate_systems.adoc +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -4,14 +4,14 @@ OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between OSI uses three coordinate systems: World coordinate system:: -Coordinate system for all entities which are part of ground truth. +Coordinate system for all entities that are part of ground truth. The world coordinate system is an inertial x/y/z-coordinate system. -The origin is the global reference point, which is determined by the environment simulation. +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. World coordinates can be mapped to a geographic coordinate system via `osi3::GroundTruth::proj_string`. Sensor coordinate system:: -Coordinate system for all entities which are part of sensor data. +Coordinate system for all entities that are part of sensor data. The origin is the mounting position of the physical sensor or a virtual mounting position, depending on the OSI message. Object coordinate system:: diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index d7ed27192..41267774c 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,17 +1,18 @@ = Sensor view configuration -The sensor view configuration configures the sensor view. Sensor-view-configuration data enables the environment simulation to supply the necessary input to a sensor model. -There are two sources for sensor-view-configuration data. +There are two sources for sensor-view-configuration data: -Sensor-view-configuration data can be provided by the environment simulation. -Note that the data is intended for the automatic configuration of an environment simulation. -Sensor-view-configuration data is not intended to provide parameters to a sensor model. +1. Sensor-view-configuration data may be provided by the environment simulation. ++ +NOTE: The data is intended for the automatic configuration of an environment simulation. Sensor-view-configuration data is not intended to provide parameters to a sensor model. -Sensor-view-configuration data can also be provided by the sensor model to the environment simulation. +2. Sensor-view-configuration data may be provided by the sensor model to the environment simulation. ++ In this case, the data describes the input configuration that is requested by the sensor model. -In response, the environment simulation will configure the input and provide a new message which describes the actual configuration. -The configuration requested by the sensor model may differ from the configuration provided by the environment simulation. -This happens when the environment simulation does not support a requested configuration or when the requested configuration is ambiguous. +In response, the environment simulation configures the input and provides a new message that describes the actual configuration. + The message describing the configuration requested by the sensor model differs from the message describing the configuration provided by the environment simulation. +The configuration requested by the sensor model may differ from the configuration provided by the environment simulation. +This happens when the environment simulation does not support a requested configuration or when the requested configuration is ambiguous. \ No newline at end of file From da458770e51ed04f71195dcab310fc84009f17dc Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Wed, 25 Aug 2021 10:28:14 +0200 Subject: [PATCH 106/219] Reorder sensor view configuration, fix single quotes. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/sensor_view.adoc | 2 +- .../sensor_view_configuration.adoc | 31 ++++++++++++++----- .../transforming_coordinate_systems.adoc | 16 +++++----- 3 files changed, 32 insertions(+), 17 deletions(-) diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index fde15f6e3..903e381e6 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -4,6 +4,6 @@ Sensor view provides the input to OSI sensor models. Sensor-view messages are derived from ground-truth messages. All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: -* Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor’s mounting position. +* Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor's mounting position. Example of technology-specific data: https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1CameraSensorView.html#ac58456a34babf78792ea2608eb963f36[`image_data` of `osi3::CameraSensorView`] * Ground truth, given in the global coordinate system. \ No newline at end of file diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index 41267774c..005ce3155 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,18 +1,33 @@ = Sensor view configuration +The sensor view is flexibly defined to support different kinds of sensor models with appropriate input. +The sensor view configuration defines the configuration of a particular sensor view. + +This message is used in the initialization phase of a simulation to negotiate the sensor view configuration for a particular sensor view input. +It is also included as a sub-message in all sensor view messages to indicate the sensor view configuration valid for this particular sensor view message. + Sensor-view-configuration data enables the environment simulation to supply the necessary input to a sensor model. +It further enables a sensor model to check whether the input supplied matches its requirements and expectations and to terminate a simulation if this is not the case. -There are two sources for sensor-view-configuration data: +NOTE: The data is intended for the automatic configuration of the sensor view interface between environment simulation and sensor model. +Sensor-view-configuration data is not intended as a mechanism to parametrize a generic sensor model. -1. Sensor-view-configuration data may be provided by the environment simulation. -+ -NOTE: The data is intended for the automatic configuration of an environment simulation. Sensor-view-configuration data is not intended to provide parameters to a sensor model. +During the initialization phase, there are two sources for sensor-view-configuration data: -2. Sensor-view-configuration data may be provided by the sensor model to the environment simulation. +1. Sensor-view-configuration data may be provided by the sensor model to the environment simulation. + In this case, the data describes the input configuration that is requested by the sensor model. -In response, the environment simulation configures the input and provides a new message that describes the actual configuration. +If no such data is provided by a sensor model, then the environment simulation will fall back to manual configuration of the sensor view. + +2. Sensor-view-configuration data may be provided by the environment simulation. ++ +In response to the request by the sensor model, or based on manual configuration, the environment simulation configures the input and provides a new message that describes the actual configuration. -The message describing the configuration requested by the sensor model differs from the message describing the configuration provided by the environment simulation. The configuration requested by the sensor model may differ from the configuration provided by the environment simulation. -This happens when the environment simulation does not support a requested configuration or when the requested configuration is ambiguous. \ No newline at end of file +This happens when the environment simulation does not support a requested configuration or when the requested configuration is ambiguous. + +In response to this difference the sensor model can either accept this difference and adapt to it, or it can terminate the simulation to indicate that it is not able to accept the difference. + +The specifics of the auto negotiation mechanism are specified in the packaging layer. + +After the initialization phase the environment simulation will provide the actual sensor view configuration also as part of each sensor view message. \ No newline at end of file diff --git a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc index 0cfbd90ee..749382f80 100644 --- a/doc/usecases/transforming_coordinate_systems.adoc +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -2,27 +2,27 @@ == Vehicle and Sensor Coordinate Systems -Transforming coordinates from the world coordinate system for a specific vehicle and its sensors is a common task when running simulations. +Transforming coordinates from the world coordinate system for a specific vehicle and its sensors is frequently needed when running simulations. -This section provides an overview of the involved messages, fields and their relationship for this task. -It demonstrates how world coordinate system, vehicle coordinate system, and sensor coordinate system are related for a specific (ego-)vehicle. +This section provides an overview of the involved messages and fields and their relationship for this task. +It demonstrates how world coordinate system, vehicle coordinate system, and sensor coordinate system are related given a specific (ego-)vehicle. //TODO: Should we add one or more sentences about the mathematical operations involved? **Corresponding messages** ``GroundTruth::moving_object::base::position``:: -Defines the position of the vehicle’s reference point in world coordinates. +This field defines the position of the vehicle's reference point in world coordinates. In Open Simulation Interface, the position of an object is defined by the coordinates of the center of the object's bounding box. ``GroundTruth::moving_object::base::orientation``:: -Defines the orientation of the vehicle’s reference point in world coordinates. +This field defines the orientation of the vehicle's reference point in world coordinates. ``GroundTruth::moving_object::vehicle_attributes::bbcenter_to_rear``:: -The vector pointing from the vehicle’s reference point to the middle of the rear axle under neutral load conditions in vehicle coordinates. +This field specifies the vector pointing from the vehicle's reference point to the middle of the rear axle under neutral load conditions in vehicle coordinates. ``SensorData::mounting_position``:: -Defines the sensor’s position and orientation and thereby the origin of the sensor coordinate system. +This field defines the sensor's position and orientation and, thereby, the origin of the sensor coordinate system. The mounting position is given in the vehicle coordinate system. **Example** @@ -30,6 +30,6 @@ The mounting position is given in the vehicle coordinate system. The following image shows the relationship between the coordinate systems. The reference point of the vehicle is given by a vector in the world coordinate system. A vector pointing from the reference position of the vehicle to the center of the rear axle then yields the origin of the vehicle coordinate system. -The mounting positions of the sensors and therefore the origins of the corresponding sensor coordinate systems are then given with respect to the vehicle coordinate system. +The mounting positions of the sensors and, therefore, the origins of the corresponding sensor coordinate systems are given with respect to the vehicle coordinate system. image::{images_open_simulation_interface}/osi_example_coordinate_systems.png[] \ No newline at end of file From bb9a8a2313d8267e5d2ee78b611015036f4de998 Mon Sep 17 00:00:00 2001 From: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Date: Wed, 25 Aug 2021 13:13:19 +0200 Subject: [PATCH 107/219] fix(docs): linguistic review (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/ground_truth.adoc | 6 +++--- doc/architecture/reference_points_coordinate_systems.adoc | 3 ++- doc/releases/versioning.adoc | 2 +- doc/usecases/modeling_traffic_participant.adoc | 2 +- doc/usecases/transforming_coordinate_systems.adoc | 2 +- 5 files changed, 8 insertions(+), 7 deletions(-) diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index f55b2a1f1..9db2e216a 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -1,5 +1,5 @@ = Ground truth -Ground-truth messages describe the simulated environment around all simulated objects in the global coordinate system at consecutive time instances. -It is based on data available to the simulation environment and is published to external subscribers. -Depending on the external subscriber, ground-truth messages may be individually restricted to reduce the data to be exchanged. +Ground-truth messages describe the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances. +It is based on data available to the simulation environment. +Typically, ground-truth messages are contained in sensor view messages. \ No newline at end of file diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc index 0a749446b..c3406d5b7 100644 --- a/doc/architecture/reference_points_coordinate_systems.adoc +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -16,4 +16,5 @@ The origin is the mounting position of the physical sensor or a virtual mounting Object coordinate system:: Local object coordinate system. -The origin of the corresponding coordinate systems is not necessarily identical to the center of the object's bounding box. +The origin of the corresponding coordinate system is not necessarily identical to the center of the object's bounding box. +If the origin of the corresponding coordinate system is not identical to the center of the object's bounding box, the object documentation will provide the actual definition. \ No newline at end of file diff --git a/doc/releases/versioning.adoc b/doc/releases/versioning.adoc index 0bd6b323a..bdaf96f13 100644 --- a/doc/releases/versioning.adoc +++ b/doc/releases/versioning.adoc @@ -1,6 +1,6 @@ = Versioning and Compatibility -The version number is defined in `InterfaceVersion::version_number` in `osi_version.proto` as the field’s default value. +The version number is defined in `InterfaceVersion::version_number` in `osi_version.proto` as the field's default value. OSI uses https://semver.org/[Semantic Versioning]. diff --git a/doc/usecases/modeling_traffic_participant.adoc b/doc/usecases/modeling_traffic_participant.adoc index 1b8edbd80..e1898024b 100644 --- a/doc/usecases/modeling_traffic_participant.adoc +++ b/doc/usecases/modeling_traffic_participant.adoc @@ -14,7 +14,7 @@ The following figure shows a very simple use case. image::{images_open_simulation_interface}/osi-traffic-participant-use-case-1.png[1100] The traffic participant bases its behavior only on an idealized view of the area around it. -If they exist, the traffic participant’s dynamics are included in the model. +If they exist, the traffic participant's dynamics are included in the model. The following figure shows a traffic participant with separately modeled behavior and dynamics. diff --git a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc index 749382f80..7a9743aa1 100644 --- a/doc/usecases/transforming_coordinate_systems.adoc +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -13,7 +13,7 @@ It demonstrates how world coordinate system, vehicle coordinate system, and sens ``GroundTruth::moving_object::base::position``:: This field defines the position of the vehicle's reference point in world coordinates. -In Open Simulation Interface, the position of an object is defined by the coordinates of the center of the object's bounding box. +In Open Simulation Interface, the position of an object is defined by the coordinates of the center of the object's 3D bounding box. ``GroundTruth::moving_object::base::orientation``:: This field defines the orientation of the vehicle's reference point in world coordinates. From 9230e4f24596fa981cfd01a8123daefbb0044f56 Mon Sep 17 00:00:00 2001 From: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Date: Wed, 25 Aug 2021 16:56:15 +0200 Subject: [PATCH 108/219] fix(doc): add data layer and packaging layer to user guide (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/open-simulation-interface_user_guide.adoc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index f0af26b01..80511fdf3 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -1,4 +1,4 @@ -ifndef::THIS_STANDARD[] +ifndef::THIS_STANDARD[] :asciidoc-resources: ../asciidoc-resources include::{asciidoc-resources}/preamble.adoc[] @@ -60,11 +60,11 @@ include::./architecture/reference_points_coordinate_systems.adoc[leveloffset=+3] include::./usecases/transforming_coordinate_systems.adoc[leveloffset=+3] -//=== Layering +=== Layering -//include::./architecture/data_layer.adoc[leveloffset=+3] +include::./architecture/data_layer.adoc[leveloffset=+3] -//include::./architecture/packaging_layer.adoc[leveloffset=+3] +include::./architecture/packaging_layer.adoc[leveloffset=+3] === OSI trace files From 660108fcc7d67e56e703d06f939a75240785499f Mon Sep 17 00:00:00 2001 From: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Date: Thu, 26 Aug 2021 13:36:39 +0200 Subject: [PATCH 109/219] doc review (#549) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/sensor_view.adoc | 2 +- .../sensor_view_configuration.adoc | 27 ++++++++++--------- 2 files changed, 15 insertions(+), 14 deletions(-) diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index 903e381e6..a63f06433 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -1,6 +1,6 @@ = Sensor view -Sensor view provides the input to OSI sensor models. +The sensor view provides the input to OSI sensor models. Sensor-view messages are derived from ground-truth messages. All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index 005ce3155..46e878398 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,33 +1,34 @@ = Sensor view configuration -The sensor view is flexibly defined to support different kinds of sensor models with appropriate input. +The sensor view is flexibly defined to provide different kinds of sensor models with appropriate input. The sensor view configuration defines the configuration of a particular sensor view. -This message is used in the initialization phase of a simulation to negotiate the sensor view configuration for a particular sensor view input. -It is also included as a sub-message in all sensor view messages to indicate the sensor view configuration valid for this particular sensor view message. +The sensor-view-configuration message is used in the initialization phase of a simulation to negotiate the sensor view configuration for a particular sensor view input. +It is also included as a sub-message in sensor view messages to indicate that the sensor view configuration is valid for a particular sensor view message. -Sensor-view-configuration data enables the environment simulation to supply the necessary input to a sensor model. -It further enables a sensor model to check whether the input supplied matches its requirements and expectations and to terminate a simulation if this is not the case. +Sensor-view-configuration data has two main applications: -NOTE: The data is intended for the automatic configuration of the sensor view interface between environment simulation and sensor model. -Sensor-view-configuration data is not intended as a mechanism to parametrize a generic sensor model. +- It enables the environment simulation to provide the necessary input to a sensor model. +- It enables a sensor model to check whether the input matches its requirements. +If the input does not match the requirements, the sensor model may terminate the simulation. + +NOTE: Sensor-view-configuration data is intended for the automatic configuration of the sensor view interface between environment simulation and sensor model. +The data is not intended as a mechanism to parametrize a generic sensor model. During the initialization phase, there are two sources for sensor-view-configuration data: 1. Sensor-view-configuration data may be provided by the sensor model to the environment simulation. -+ In this case, the data describes the input configuration that is requested by the sensor model. -If no such data is provided by a sensor model, then the environment simulation will fall back to manual configuration of the sensor view. +If no such data is provided by the sensor model, then the environment simulation will fall back to manual configuration of the sensor view. 2. Sensor-view-configuration data may be provided by the environment simulation. -+ In response to the request by the sensor model, or based on manual configuration, the environment simulation configures the input and provides a new message that describes the actual configuration. The configuration requested by the sensor model may differ from the configuration provided by the environment simulation. This happens when the environment simulation does not support a requested configuration or when the requested configuration is ambiguous. -In response to this difference the sensor model can either accept this difference and adapt to it, or it can terminate the simulation to indicate that it is not able to accept the difference. +In response to this difference, the sensor model can either accept this difference and adapt to it, or it can terminate the simulation to indicate that it is not able to accept the difference. -The specifics of the auto negotiation mechanism are specified in the packaging layer. +The packaging layer defines the specifics of this auto-negotiation mechanism. -After the initialization phase the environment simulation will provide the actual sensor view configuration also as part of each sensor view message. \ No newline at end of file +After the initialization phase, the environment simulation provides the actual sensor view configuration as part of each sensor view message. \ No newline at end of file From af925df7677d8d7c7385a160082dac5f4564ba86 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Tue, 27 Jul 2021 10:56:35 +0200 Subject: [PATCH 110/219] Add first draft of additional color models MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 191 +++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 191 insertions(+) diff --git a/osi_common.proto b/osi_common.proto index dc9de96bd..ae5c37212 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -611,3 +611,194 @@ message SpatialSignalStrength // optional double signal_strength = 3; } + +// +// \brief The description of a color within available color spaces. +// +// ColorDescription represents the visual, non-semantic appearance of an object, structure or feature within various available color spaces. +// +// Depending on the context, this may define the color of an object or structure a priori (e.g. GroundTruth objects) +// or describe a perceived color (e.g. CameraDetections). +// +message ColorDescription +{ + // Greyscale color model + // + optional ColorGrey grey = 1; + + // RGB (Red, Green, Blue) color model + // + optional ColorRGB rgb = 2; + + // RGBIR (Red, Green, Blue, Infrared) color model + // + optional ColorRGBIR rgbir = 3; + + // HSV (Hue, Saturation, Value) color model + // + optional ColorHSV hsv = 4; + + // LUV (Luminance, U-coordinate, V-coordinate) color model + // + optional ColorLUV luv = 5; + + // CMYK (Cyan, Magenta, Yellow, Key) color model + // + optional ColorCMYK cmyk = 6; +} + +// +// \brief Greyscale color model +// +// ColorGrey defines a greyscale. +// +message ColorGrey +{ + // Definition of a greyscale + // + // Range: [0,1] + // + optional double grey = 1; +} + +// +// RGB color model +// +// ColorRGB provides values for red, green and blue. +// +message ColorRGB +{ + // Red ratio + // + // Range: [0,1] + // + optional double red = 1; + + // Green ratio + // + // Range: [0,1] + // + optional double green = 2; + + // Blue ratio + // + // Range: [0,1] + // + optional double blue = 3; +} + +// +// \brief RGBIR color model +// +// ColorRGBIR provides values for red, green, blue and infrared. +// +message ColorRGBIR +{ + // Red ratio + // + // Range: [0,1] + // + optional double red = 1; + + // Green ratio + // + // Range: [0,1] + // + optional double green = 2; + + // Blue ratio + // + // Range: [0,1] + // + optional double blue = 3; + + // Infrared + // + // Range: [0,1] + // + optional double infrared = 4; +} + +// +// \brief HSV color model +// +// ColorHSV provides values for hue, saturation and value/brightness. +// +message ColorHSV +{ + // Hue + // + // Range: [0,1] + // + optional double hue = 1; + + // Saturation + // + // Range: [0,1] + // + optional double saturation = 2; + + // Value + // + // Range: [0,1] + // + optional double value = 3; +} + +// +// \brief LUV color model +// +// ColorLUV provides values for luminance, U- and V-coordinate. +// +message ColorLUV +{ + // Luminance + // + // Range: [0,1] + // + optional double luminance = 1; + + // U-coordinate + // + // Range: [0,1] + // + optional double u = 2; + + // V-Coordinate + // + // Range: [0,1] + // + optional double v = 3; +} + +// +// \brief CMYK colors model +// +// ColorCMYK provides values for cyan, magenta, yellow and key/black. +// +message ColorCMYK +{ + // Cyan ratio + // + // Range: [0,1] + // + optional double cyan = 1; + + // Magenta ratio + // + // Range: [0,1] + // + optional double magenta = 2; + + // Yellow ratio + // + // Range: [0,1] + // + optional double yellow = 3; + + // Black ratio + // + // Range: [0,1] + // + optional double key = 4; +} From db172ed4c4a80f2182e9e482505d387d6e2d611a Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Wed, 28 Jul 2021 13:22:25 +0200 Subject: [PATCH 111/219] Clarify documentation of semantic colors MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 10 ++++++++-- osi_roadmarking.proto | 11 +++++++++-- osi_trafficlight.proto | 10 ++++++++-- 3 files changed, 25 insertions(+), 6 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index 05e4bbcdf..2bed7833f 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -905,7 +905,10 @@ message LaneBoundary // optional Type type = 1; - // The color of the lane boundary in case of lane markings. + // The semantic color of the lane boundary in case of lane markings. + // + // \note The color types represent the semantic classification of + // lane markings only. They do not represent an actual visual appearance. // optional Color color = 2; @@ -987,10 +990,13 @@ message LaneBoundary TYPE_STRUCTURE = 13; } - // The color of the lane boundary in case of a lane markings. + // The semantic color of the lane boundary in case of a lane markings. // Lane markings that alternate in color must be represented by // individual \c LaneBoundary segments. // + // \note The color types represent the semantic color classification of + // lane markings only. They do not represent an actual visual appearance. + // enum Color { // Color of marking is unknown. Value must not be used in ground diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index 694aadefc..4e1fad571 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -113,7 +113,11 @@ message RoadMarking // optional TrafficSign.MainSign.Classification.Type traffic_main_sign_type = 2; - // The monochrome color of the road marking. + // The semantic monochrome color of the road marking. + // + // \note The color types represent the semantic color classification of + // road markings only. They do not represent an actual visual appearance. + // \note Field need not be set (or set to \c #COLOR_OTHER) // if road marking type does not require it (e.g. for \c #type == // \c #TYPE_PAINTED_TRAFFIC_SIGN). @@ -286,7 +290,10 @@ message RoadMarking TYPE_GENERIC_TEXT = 7; } - // Definition of road marking colors + // Definition of semantic road marking colors + // + // \note The color types represent the semantic classification of + // road markings only. They do not represent an actual visual appearance. // enum Color { diff --git a/osi_trafficlight.proto b/osi_trafficlight.proto index d88528cf7..8cf5ca832 100644 --- a/osi_trafficlight.proto +++ b/osi_trafficlight.proto @@ -68,7 +68,10 @@ message TrafficLight // message Classification { - // The color of the traffic light. + // The semantic color of the traffic light. + // + // \note The color types represent the semantic color classification of a + // traffic light only. They do not represent an actual visual appearance. // // \note If the color of the traffic light is known (from history or // geometrical arrangement) and the state \c #mode is @@ -116,7 +119,10 @@ message TrafficLight // optional bool is_out_of_service = 6; - // Definition of colors for traffic lights. + // Definition of semantic colors for traffic lights. + // + // \note The color types represent the semantic classification of a traffic light + // only. They do not represent an actual visual appearance. // enum Color { From 863539d194bd9cffd2edbbca16281670a13b559e Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Wed, 28 Jul 2021 14:49:24 +0200 Subject: [PATCH 112/219] Add new color fields, mark old ones as deprecated MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_featuredata.proto | 9 +++++++++ osi_object.proto | 13 +++++++++++++ 2 files changed, 22 insertions(+) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 0c9adafae..548f714a8 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -853,6 +853,10 @@ message CameraDetection // The dominant color of the shape. // + // \attention DEPRECATED: This color enum will be removed in version + // 4.0.0. Use the field \c #color_description (\c ColorDescription) + // instead. + // optional Color color = 28; // The probability of the shape's color. @@ -885,6 +889,11 @@ message CameraDetection // optional uint32 number_of_points = 32; + // + // The dominant color of the shape. + // + optional ColorDescription color_description = 33; + // Definition of shape dominant color. // enum Color diff --git a/osi_object.proto b/osi_object.proto index af2d9a232..485ec8f68 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -94,12 +94,21 @@ message StationaryObject // The dominating color of the material of the structure. // + // \attention DEPRECATED: This color enum will be removed in version + // 4.0.0. Use the field \c #color_description (\c ColorDescription) + // instead. + // optional Color color = 4; // The attributes of the emitting structure if stationary object is classified as such. // optional EmittingStructureAttribute emitting_structure_attribute = 5; + // + // The dominating color of the material of the structure. + // + optional ColorDescription color_description = 6; + // Definition of object types. // enum Type @@ -266,6 +275,10 @@ message StationaryObject // Definition of colors for structures. // + // \attention DEPRECATED: This color enum will be removed in version + // 4.0.0. Use \c ColorDescription instead. + // + // enum Color { // Color is unknown (must not be used in ground truth). From f529853e4c230d298503da95dc88cdb119040ea6 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Mon, 2 Aug 2021 08:56:31 +0200 Subject: [PATCH 113/219] Add color description to moving objects MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_featuredata.proto | 3 +++ osi_object.proto | 5 +++++ 2 files changed, 8 insertions(+) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 548f714a8..328030657 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -896,6 +896,9 @@ message CameraDetection // Definition of shape dominant color. // + // \attention DEPRECATED: This color enum will be removed in version + // 4.0.0. Use \c ColorDescription instead. + // enum Color { // Color of the shape is unknown (must not be used in ground diff --git a/osi_object.proto b/osi_object.proto index 485ec8f68..a6389c01c 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -678,6 +678,11 @@ message MovingObject // \note OSI uses singular instead of plural for repeated field names. // repeated double assigned_lane_percentage = 2; + + // + // The dominating color of the material of the moving object. + // + optional ColorDescription color_description = 3; } // From 80ad515eabe5707123052daa9ce4d6ab0eeccb59 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Mon, 2 Aug 2021 09:03:30 +0200 Subject: [PATCH 114/219] Change unit of hue (ColorHSV) to degree MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/osi_common.proto b/osi_common.proto index ae5c37212..e4fbf03ce 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -728,7 +728,8 @@ message ColorHSV { // Hue // - // Range: [0,1] + // Unit: deg + // Range: [0,360[ // optional double hue = 1; From 4fb19d64f07274d77e0f2bd77141357679c8b53a Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Mon, 2 Aug 2021 09:19:32 +0200 Subject: [PATCH 115/219] Add color description to traffic light MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_trafficlight.proto | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/osi_trafficlight.proto b/osi_trafficlight.proto index 8cf5ca832..1f1d23b36 100644 --- a/osi_trafficlight.proto +++ b/osi_trafficlight.proto @@ -119,6 +119,12 @@ message TrafficLight // optional bool is_out_of_service = 6; + // + // The visual color of the traffic light. This does not represent the semantic + // classification but the visual appearance. + // + optional ColorDescription color_description = 7; + // Definition of semantic colors for traffic lights. // // \note The color types represent the semantic classification of a traffic light From fbaf376288adfb0c8955610a7dd876bbb62b50c1 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Mon, 2 Aug 2021 09:20:12 +0200 Subject: [PATCH 116/219] Add color description to lane boundaries MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/osi_lane.proto b/osi_lane.proto index 2bed7833f..9bc70681e 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -922,6 +922,12 @@ message LaneBoundary // repeated Identifier limiting_structure_id = 3; + // + // The visual color of the material of the lane boundary. This does not + // represent the semantic classification but the visual appearance. + // + optional ColorDescription color_description = 4; + // The lane boundary type. // There is no special representation for double lines, e.g. solid / // solid or dashed / solid. In such cases, each lane will define its own From 24c02177db8f26ddc702992749a4d01a3dadce2c Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Mon, 2 Aug 2021 09:20:53 +0200 Subject: [PATCH 117/219] Add color description to road markings MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_roadmarking.proto | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index 4e1fad571..2d221c775 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -248,6 +248,12 @@ message RoadMarking // optional string sub_code = 11; + // + // The visual color of the material of the road marking. This does not + // represent the semantic classification but the visual appearance. + // + optional ColorDescription color_description = 12; + // Definition of road marking types. // enum Type From 1b8dc7647eea62cb217d65c2ced4262f82fa2b46 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Tue, 3 Aug 2021 19:22:08 +0200 Subject: [PATCH 118/219] Relocate color description fields MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_detectedlane.proto | 9 +++++++++ osi_detectedobject.proto | 8 ++++++++ osi_detectedroadmarking.proto | 8 ++++++++ osi_detectedtrafficlight.proto | 8 ++++++++ osi_lane.proto | 14 ++++++++------ osi_object.proto | 21 ++++++++++----------- osi_roadmarking.proto | 14 ++++++++------ osi_trafficlight.proto | 14 ++++++++------ 8 files changed, 67 insertions(+), 29 deletions(-) diff --git a/osi_detectedlane.proto b/osi_detectedlane.proto index b1e541914..34cf5e0b2 100644 --- a/osi_detectedlane.proto +++ b/osi_detectedlane.proto @@ -4,6 +4,7 @@ option optimize_for = SPEED; import "osi_lane.proto"; import "osi_detectedobject.proto"; +import "osi_common.proto"; package osi3; @@ -104,6 +105,14 @@ message DetectedLaneBoundary // repeated double boundary_line_confidences = 5; + // The visual color of the material of the lane boundary. + // + // \note This does not represent the semantic classification but the visual + // appearance. For semantic classification of the lane boundary use the color + // field in \c CandidateLaneBoundary::classification. + // + optional ColorDescription color_description = 6; + // // \brief A candidate for a detected lane boundary as estimated by the // sensor. diff --git a/osi_detectedobject.proto b/osi_detectedobject.proto index 83a9ab598..078ee7e00 100644 --- a/osi_detectedobject.proto +++ b/osi_detectedobject.proto @@ -120,6 +120,10 @@ message DetectedStationaryObject // repeated CandidateStationaryObject candidate = 4; + // The dominating color of the material of the structure. + // + optional ColorDescription color_description = 5; + // // \brief A candidate for a detected stationary object as estimated // by the sensor. @@ -221,6 +225,10 @@ message DetectedMovingObject // repeated CandidateMovingObject candidate = 8; + // The dominating color of the material of the moving object. + // + optional ColorDescription color_description = 9; + // Additional data that is specific to radar sensors. // // \note Field needs not to be set if simulated sensor is not a radar diff --git a/osi_detectedroadmarking.proto b/osi_detectedroadmarking.proto index efd5b578d..f142a9449 100644 --- a/osi_detectedroadmarking.proto +++ b/osi_detectedroadmarking.proto @@ -59,6 +59,14 @@ message DetectedRoadMarking // repeated CandidateRoadMarking candidate = 4; + // The visual color of the material of the road marking. + // + // \note This does not represent the semantic classification but the visual + // appearance. For semantic classification of the road marking use the color + // field in \c CandidateRoadMarking::classification. + // + optional ColorDescription color_description = 5; + // // \brief A candidate for a detected road marking as estimated by the // sensor. diff --git a/osi_detectedtrafficlight.proto b/osi_detectedtrafficlight.proto index 16e27f452..acaa425a1 100644 --- a/osi_detectedtrafficlight.proto +++ b/osi_detectedtrafficlight.proto @@ -43,6 +43,14 @@ message DetectedTrafficLight // repeated CandidateTrafficLight candidate = 4; + // The visual color of the traffic light. + // + // \note This does not represent the semantic classification but the visual + // appearance. For semantic classification of the traffic light use the color + // field in \c CandidateTrafficLight::classification. + // + optional ColorDescription color_description = 5; + // // \brief A candidate for a detected traffic light as estimated by // the sensor. diff --git a/osi_lane.proto b/osi_lane.proto index 9bc70681e..5369ea69b 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -763,6 +763,14 @@ message LaneBoundary // repeated ExternalReference source_reference = 4; + // The visual color of the material of the lane boundary. + // + // \note This does not represent the semantic classification but the visual + // appearance. For semantic classification of the lane boundary use the color + // field in \c Classification. + // + optional ColorDescription color_description = 5; + // // \brief A single point of a lane boundary. // @@ -922,12 +930,6 @@ message LaneBoundary // repeated Identifier limiting_structure_id = 3; - // - // The visual color of the material of the lane boundary. This does not - // represent the semantic classification but the visual appearance. - // - optional ColorDescription color_description = 4; - // The lane boundary type. // There is no special representation for double lines, e.g. solid / // solid or dashed / solid. In such cases, each lane will define its own diff --git a/osi_object.proto b/osi_object.proto index a6389c01c..3030a3311 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -75,6 +75,10 @@ message StationaryObject // repeated ExternalReference source_reference = 5; + // The dominating color of the material of the structure. + // + optional ColorDescription color_description = 6; + // // \brief Classification data for a stationary object. // @@ -95,8 +99,8 @@ message StationaryObject // The dominating color of the material of the structure. // // \attention DEPRECATED: This color enum will be removed in version - // 4.0.0. Use the field \c #color_description (\c ColorDescription) - // instead. + // 4.0.0. Use the field \c #color_description (\c ColorDescription) of + // \c StationaryObject instead. // optional Color color = 4; @@ -104,11 +108,6 @@ message StationaryObject // optional EmittingStructureAttribute emitting_structure_attribute = 5; - // - // The dominating color of the material of the structure. - // - optional ColorDescription color_description = 6; - // Definition of object types. // enum Type @@ -464,6 +463,10 @@ message MovingObject // repeated ExternalReference source_reference = 10; + // The dominating color of the material of the moving object. + // + optional ColorDescription color_description = 11; + // Definition of object types. // enum Type @@ -679,10 +682,6 @@ message MovingObject // repeated double assigned_lane_percentage = 2; - // - // The dominating color of the material of the moving object. - // - optional ColorDescription color_description = 3; } // diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index 2d221c775..0b9ce9a95 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -82,6 +82,14 @@ message RoadMarking // repeated ExternalReference source_reference = 4; + // The visual color of the material of the road marking. + // + // \note This does not represent the semantic classification but the visual + // appearance. For semantic classification of the road marking use the color + // field in \c Classification. + // + optional ColorDescription color_description = 5; + // // \brief \c Classification data for a road surface marking. // @@ -248,12 +256,6 @@ message RoadMarking // optional string sub_code = 11; - // - // The visual color of the material of the road marking. This does not - // represent the semantic classification but the visual appearance. - // - optional ColorDescription color_description = 12; - // Definition of road marking types. // enum Type diff --git a/osi_trafficlight.proto b/osi_trafficlight.proto index 1f1d23b36..ace90bccd 100644 --- a/osi_trafficlight.proto +++ b/osi_trafficlight.proto @@ -63,6 +63,14 @@ message TrafficLight // repeated ExternalReference source_reference = 5; + // The visual color of the traffic light. + // + // \note This does not represent the semantic classification but the visual + // appearance. For semantic classification of the traffic light use the color + // field in \c Classification. + // + optional ColorDescription color_description = 6; + // // \brief \c Classification data for a traffic light. // @@ -119,12 +127,6 @@ message TrafficLight // optional bool is_out_of_service = 6; - // - // The visual color of the traffic light. This does not represent the semantic - // classification but the visual appearance. - // - optional ColorDescription color_description = 7; - // Definition of semantic colors for traffic lights. // // \note The color types represent the semantic classification of a traffic light From 46a2bdd725d4fc64b241b6b924de207d93c0e82d Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Mon, 9 Aug 2021 16:19:17 +0200 Subject: [PATCH 119/219] Add brief tag and remove spaces MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index e4fbf03ce..01fb932f2 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -551,6 +551,7 @@ message StatePoint // optional Orientation3d orientation = 3; } + // // \brief Detailed WavelengthRange message. // @@ -662,12 +663,12 @@ message ColorGrey } // -// RGB color model +// \brief RGB color model // // ColorRGB provides values for red, green and blue. // message ColorRGB -{ +{ // Red ratio // // Range: [0,1] From 9a0c10758cfc2799ad771011b2a3888d4e5cfe7e Mon Sep 17 00:00:00 2001 From: Yan QiDong <yanqd0@outlook.com> Date: Wed, 8 Sep 2021 17:02:19 +0800 Subject: [PATCH 120/219] Add osi3 and pyproject.toml to .gitignore MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Yan QiDong <yanqd0@outlook.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .gitignore | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.gitignore b/.gitignore index 5b1593b8c..29b5c0cbf 100644 --- a/.gitignore +++ b/.gitignore @@ -4,6 +4,7 @@ dist/ doc/html doc/latex osi/ +osi3/ # Specific extensions *.egg-info @@ -20,6 +21,7 @@ cmake_install.cmake install_manifest.txt osi_version.proto version.py +pyproject.toml # Eclipse-specific files, if any *.cproject From d88b8ac0e4e4cabd1b03b5a0870206bee42da5af Mon Sep 17 00:00:00 2001 From: "Schloemicher, Thomas AVL,AT" <thomas.schloemicher@avl.com> Date: Fri, 5 Mar 2021 09:29:25 +0100 Subject: [PATCH 121/219] Add StationaryObjectClassification including assigned_lane_id and assigned_lane_percentage MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Schloemicher, Thomas AVL,AT <thomas.schloemicher@avl.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 26 ++++++++++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/osi_object.proto b/osi_object.proto index 3030a3311..260fad6a0 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -79,6 +79,32 @@ message StationaryObject // optional ColorDescription color_description = 6; + // Specific information about the classification of stationary objects. + // + optional StationaryObjectClassification stationary_object_classification = 7; + + // + // \brief Information for the classification of stationary objects. + // + message StationaryObjectClassification + { + // The IDs of the lanes that this object is assigned to. + // + // \note Might be multiple if the object streches over multiple lanes. + // + // \note OSI uses singular instead of plural for repeated field names. + // + repeated Identifier assigned_lane_id = 1; + + // Percentage value of the object width in the corresponding lane. + // + // \note Might be multiple if the object streches over multiple lanes. + // + // \note OSI uses singular instead of plural for repeated field names. + // + repeated double assigned_lane_percentage = 2; + } + // // \brief Classification data for a stationary object. // From 6f83cff6064b53939723c4d4c512ba9853d4f2ac Mon Sep 17 00:00:00 2001 From: "Schloemicher, Thomas AVL,AT" <thomas.schloemicher@avl.com> Date: Wed, 23 Jun 2021 13:19:56 +0200 Subject: [PATCH 122/219] Move assigned_lane_id and assigned_lane_percentage under Classification message that is already available MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Schloemicher, Thomas AVL,AT <thomas.schloemicher@avl.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 42 ++++++++++++++++-------------------------- 1 file changed, 16 insertions(+), 26 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 260fad6a0..dcf073c6b 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -79,32 +79,6 @@ message StationaryObject // optional ColorDescription color_description = 6; - // Specific information about the classification of stationary objects. - // - optional StationaryObjectClassification stationary_object_classification = 7; - - // - // \brief Information for the classification of stationary objects. - // - message StationaryObjectClassification - { - // The IDs of the lanes that this object is assigned to. - // - // \note Might be multiple if the object streches over multiple lanes. - // - // \note OSI uses singular instead of plural for repeated field names. - // - repeated Identifier assigned_lane_id = 1; - - // Percentage value of the object width in the corresponding lane. - // - // \note Might be multiple if the object streches over multiple lanes. - // - // \note OSI uses singular instead of plural for repeated field names. - // - repeated double assigned_lane_percentage = 2; - } - // // \brief Classification data for a stationary object. // @@ -130,6 +104,22 @@ message StationaryObject // optional Color color = 4; + // The IDs of the lanes that the object is assigned to. + // + // \note Might be multiple if the object streches over multiple lanes. + // + // \note OSI uses singular instead of plural for repeated field names. + // + repeated Identifier assigned_lane_id = 5; + + // Percentage value of the object width in the corresponding lane. + // + // \note Might be multiple if the object streches over multiple lanes. + // + // \note OSI uses singular instead of plural for repeated field names. + // + repeated double assigned_lane_percentage = 6; + // The attributes of the emitting structure if stationary object is classified as such. // optional EmittingStructureAttribute emitting_structure_attribute = 5; From c763e89003f4941701db39447082c5cb86c605d6 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Wed, 8 Sep 2021 11:18:58 +0200 Subject: [PATCH 123/219] Apply suggestions from documentation review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Co-authored-by: max-rosin <62103539+max-rosin@users.noreply.github.com> Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index dcf073c6b..71cd122e9 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -106,15 +106,15 @@ message StationaryObject // The IDs of the lanes that the object is assigned to. // - // \note Might be multiple if the object streches over multiple lanes. + // \note Might be multiple IDs if the object stretches over multiple lanes. // // \note OSI uses singular instead of plural for repeated field names. // repeated Identifier assigned_lane_id = 5; - // Percentage value of the object width in the corresponding lane. + // Percentage values of the object width in the corresponding lane. // - // \note Might be multiple if the object streches over multiple lanes. + // \note Might be multiple percentages if the object stretches over multiple lanes. // // \note OSI uses singular instead of plural for repeated field names. // From 068e24a4166bf03035d40ac3f2ddfc4f552ebe1d Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Wed, 8 Sep 2021 12:01:52 +0200 Subject: [PATCH 124/219] Fix field numbering conflict with master MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 71cd122e9..fb8a92536 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -104,13 +104,17 @@ message StationaryObject // optional Color color = 4; + // The attributes of the emitting structure if stationary object is classified as such. + // + optional EmittingStructureAttribute emitting_structure_attribute = 5; + // The IDs of the lanes that the object is assigned to. // // \note Might be multiple IDs if the object stretches over multiple lanes. // // \note OSI uses singular instead of plural for repeated field names. // - repeated Identifier assigned_lane_id = 5; + repeated Identifier assigned_lane_id = 6; // Percentage values of the object width in the corresponding lane. // @@ -118,11 +122,7 @@ message StationaryObject // // \note OSI uses singular instead of plural for repeated field names. // - repeated double assigned_lane_percentage = 6; - - // The attributes of the emitting structure if stationary object is classified as such. - // - optional EmittingStructureAttribute emitting_structure_attribute = 5; + repeated double assigned_lane_percentage = 7; // Definition of object types. // From b6ed9adf99da9f9c858bb5049c7b1886301cce73 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Wed, 22 Jul 2020 13:51:28 +0200 Subject: [PATCH 125/219] Add support for flatbuffers code generation MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .gitmodules | 3 +++ CMakeLists.txt | 47 ++++++++++++++++++++++++++++++++++++++++++++++- flatbuffers | 1 + 3 files changed, 50 insertions(+), 1 deletion(-) create mode 160000 flatbuffers diff --git a/.gitmodules b/.gitmodules index bd9e7f997..cae3296fc 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,6 @@ [submodule "asciidoc-resources"] path = asciidoc-resources url = https://code.asam.net/simulation/asciidoc-resources.git +[submodule "flatbuffers"] + path = flatbuffers + url = https://github.com/google/flatbuffers.git diff --git a/CMakeLists.txt b/CMakeLists.txt index 58c125328..2ce8930a4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -5,6 +5,9 @@ project(open_simulation_interface) # set default compiler set(CMAKE_CXX_STANDARD 11) +# Optional Flatbuffer support +set(BUILD_FLATBUFFER OFF CACHE BOOLEAN "Build flatbuffer versions of libraries") + # Set a default build type if none was specified set(default_build_type "Release") if(EXISTS "${CMAKE_SOURCE_DIR}/.git") @@ -84,6 +87,48 @@ set(OSI_PROTO_FILES ) protobuf_generate_cpp(PROTO_SRCS PROTO_HEADERS ${OSI_PROTO_FILES}) +set(FLAT_HEADERS "") +if(BUILD_FLATBUFFER) + set(FLAT_FBS "") + add_subdirectory("flatbuffers" + ${CMAKE_CURRENT_BINARY_DIR}/flatbuffers-build + EXCLUDE_FROM_ALL) + file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/descriptor.fbs" "namespace osi3;") + file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/include") + foreach (proto ${OSI_PROTO_FILES}) + get_filename_component(proto_base ${proto} NAME_WE) + set(fbs "${proto_base}.fbs") + add_custom_command( + OUTPUT "${fbs}" + COMMAND $<TARGET_FILE:flatc> -o "${CMAKE_CURRENT_BINARY_DIR}" --proto "${CMAKE_CURRENT_SOURCE_DIR}/${proto}" + DEPENDS "${proto}" flatc + WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}" + COMMENT "Convert ${proto} to ${fbs} using flatc" + ) + list(APPEND FLAT_FBS "${CMAKE_CURRENT_BINARY_DIR}/${fbs}") + endforeach() + + foreach (flat ${FLAT_FBS}) + get_filename_component(flat_base ${flat} NAME_WE) + set(fbs "${flat_base}.fbs") + set(fbh "${flat_base}_generated.h") + add_custom_command( + OUTPUT "include/${fbh}" + COMMAND $<TARGET_FILE:flatc> -o "${CMAKE_CURRENT_BINARY_DIR}/include" --cpp --gen-mutable --gen-name-strings --scoped-enums "${fbs}" + DEPENDS "${FLAT_FBS}" flatc + WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}" + COMMENT "Process ${fbs} to ${fbh} using flatc" + ) + list(APPEND FLAT_HEADERS "${CMAKE_CURRENT_BINARY_DIR}/include/${fbh}") + endforeach() + + add_custom_target(${PROJECT_NAME}_fbs_build ALL DEPENDS "${FLAT_HEADERS}") + add_library(${PROJECT_NAME}_fbs INTERFACE) + target_sources(${PROJECT_NAME}_fbs INTERFACE "$<BUILD_INTERFACE:${FLAT_HEADERS}>") + target_include_directories(${PROJECT_NAME}_fbs INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include/>) + target_include_directories(${PROJECT_NAME}_fbs SYSTEM INTERFACE $<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include>) + target_link_libraries(${PROJECT_NAME}_fbs INTERFACE flatbuffers) +endif() add_library(${PROJECT_NAME}_static STATIC ${PROTO_SRCS} ${PROTO_HEADERS}) target_include_directories(${PROJECT_NAME}_static @@ -168,7 +213,7 @@ install(FILES COMPONENT dev) # Header files -install(FILES ${PROTO_HEADERS} +install(FILES ${PROTO_HEADERS} ${FLAT_HEADERS} DESTINATION "${INSTALL_INCLUDE_DIR}") # Install the export set for use with the install-tree diff --git a/flatbuffers b/flatbuffers new file mode 160000 index 000000000..6df40a247 --- /dev/null +++ b/flatbuffers @@ -0,0 +1 @@ +Subproject commit 6df40a2471737b27271bdd9b900ab5f3aec746c7 From d369e5ae7f66528e15ed199e8e73bd31859c51b1 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Wed, 22 Jul 2020 21:32:25 +0200 Subject: [PATCH 126/219] Fix include and source file distribution issues MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 2ce8930a4..f49ebf6da 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -95,6 +95,7 @@ if(BUILD_FLATBUFFER) EXCLUDE_FROM_ALL) file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/descriptor.fbs" "namespace osi3;") file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/include") + list(APPEND FLAT_FBS "${CMAKE_CURRENT_BINARY_DIR}/descriptor.fbs") foreach (proto ${OSI_PROTO_FILES}) get_filename_component(proto_base ${proto} NAME_WE) set(fbs "${proto_base}.fbs") @@ -124,7 +125,6 @@ if(BUILD_FLATBUFFER) add_custom_target(${PROJECT_NAME}_fbs_build ALL DEPENDS "${FLAT_HEADERS}") add_library(${PROJECT_NAME}_fbs INTERFACE) - target_sources(${PROJECT_NAME}_fbs INTERFACE "$<BUILD_INTERFACE:${FLAT_HEADERS}>") target_include_directories(${PROJECT_NAME}_fbs INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include/>) target_include_directories(${PROJECT_NAME}_fbs SYSTEM INTERFACE $<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include>) target_link_libraries(${PROJECT_NAME}_fbs INTERFACE flatbuffers) From 0f037a14c6f6627f7acfed2d18207aed296ae979 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Wed, 25 Aug 2021 11:52:54 +0200 Subject: [PATCH 127/219] Fix missing protobuf include path for flatc conversion MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index f49ebf6da..1acc23fcf 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -101,7 +101,7 @@ if(BUILD_FLATBUFFER) set(fbs "${proto_base}.fbs") add_custom_command( OUTPUT "${fbs}" - COMMAND $<TARGET_FILE:flatc> -o "${CMAKE_CURRENT_BINARY_DIR}" --proto "${CMAKE_CURRENT_SOURCE_DIR}/${proto}" + COMMAND $<TARGET_FILE:flatc> -I "${PROTOBUF_IMPORT_DIRS}" -o "${CMAKE_CURRENT_BINARY_DIR}" --proto "${CMAKE_CURRENT_SOURCE_DIR}/${proto}" DEPENDS "${proto}" flatc WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}" COMMENT "Convert ${proto} to ${fbs} using flatc" From 4106ca1e0b2bab22b9cd8e11b5421d85a3b324ca Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Wed, 18 Aug 2021 09:15:04 +0200 Subject: [PATCH 128/219] Add dash property to boundary points MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 35 ++++++++++++++++++++++++++++++++--- 1 file changed, 32 insertions(+), 3 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index 5369ea69b..d682090db 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -728,8 +728,7 @@ message LaneBoundary // another at the end of each dashed line segment. The first // \c BoundaryPoint defines the beginning of the first dashed lane marking. // The last \c BoundaryPoint defines the end of the last dashed lane - // marking. For example, the area between the second and third - // \c BoundaryPoint has no lane marking, and so on. + // marking. // \note For Botts' dots lines, one \c BoundaryPoint position has to define // each Botts' dot. // @@ -817,6 +816,36 @@ message LaneBoundary // See \c LaneBoundary . // optional double height = 3; + + // Alternation of dashes in case of a dashed lane boundary. In + // context, this field gives information about the location of + // dashes on the boundary line. + // + optional Dash dash = 4; + + // This enum describes the alternation of dashes in case of a + // dashed lane boundary. + // + // \note The enum descriptions adhere to the definition direction + // of the lane boundary points, meaning that start or end of a dash + // are understood with respect to the direction in which the points + // of the boundary line are defined. + // + enum Dash + { + // The current \c BoundaryPoint indicates the start of a dash. + // + DASH_START = 0; + + // The current \c BoundaryPoint is located on a dash of a dashed + // line. This enables a dash to continue across multiple points. + // + DASH_CONTINUE = 1; + + // The current \c BoundaryPoint indicates the end of a dash. + // + DASH_END = 2; + } } // @@ -947,7 +976,7 @@ message LaneBoundary // TYPE_OTHER = 1; - // An invisible lane boundary (e.g. unmarked part of a dashed line). + // An invisible lane boundary. // TYPE_NO_LINE = 2; From 933943da616f2fcd73d9c70b5ab37bda0f560bfd Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Wed, 18 Aug 2021 15:43:27 +0200 Subject: [PATCH 129/219] Add UNKNOWN and OTHER to dash enum MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index d682090db..47d607bf0 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -833,18 +833,27 @@ message LaneBoundary // enum Dash { + // The current state of the dash alternation is not known (must + // not be used in ground truth). + // + DASH_UNKNOWN = 0; + + // Other (unspecified but known) type of dash alternation state. + // + DASH_OTHER = 1; + // The current \c BoundaryPoint indicates the start of a dash. // - DASH_START = 0; + DASH_START = 2; // The current \c BoundaryPoint is located on a dash of a dashed // line. This enables a dash to continue across multiple points. // - DASH_CONTINUE = 1; + DASH_CONTINUE = 3; // The current \c BoundaryPoint indicates the end of a dash. // - DASH_END = 2; + DASH_END = 4; } } From ed3e62dd575f6197c5cd728a2e5179f1f01434b5 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Wed, 8 Sep 2021 13:46:21 +0200 Subject: [PATCH 130/219] Minor wording update from documentation review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index 47d607bf0..0224c68d7 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -827,9 +827,9 @@ message LaneBoundary // dashed lane boundary. // // \note The enum descriptions adhere to the definition direction - // of the lane boundary points, meaning that start or end of a dash - // are understood with respect to the direction in which the points - // of the boundary line are defined. + // of the lane boundary points. This means that start or end of a + // dash are understood with respect to the direction in which the + // points of the boundary line are defined. // enum Dash { From d3c78d1aa41ce315f211826836e7ac7c780bb0e6 Mon Sep 17 00:00:00 2001 From: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Date: Thu, 9 Sep 2021 12:32:59 +0200 Subject: [PATCH 131/219] docs: native speaker review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/architecture_overview.adoc | 12 ++-- doc/architecture/data_layer.adoc | 6 +- doc/architecture/feature_data.adoc | 2 +- doc/architecture/formatting_scripts.adoc | 12 ++-- doc/architecture/ground_truth.adoc | 4 +- doc/architecture/packaging_layer.adoc | 4 +- doc/architecture/sensor_data.adoc | 4 +- doc/architecture/sensor_view.adoc | 4 +- .../sensor_view_configuration.adoc | 16 +++--- doc/architecture/trace_file_formats.adoc | 4 +- doc/architecture/trace_file_naming.adoc | 10 ++-- doc/architecture/traffic_participant.adoc | 16 +++--- doc/architecture/traffic_update.adoc | 2 +- doc/misc/osi_vision.adoc | 4 +- doc/releases/v02.00.adoc | 23 ++++---- doc/releases/v02.01.adoc | 4 +- doc/releases/v02.02.adoc | 8 +-- doc/releases/v03.00.adoc | 42 +++++++------- doc/releases/v03.01.adoc | 14 ++--- doc/releases/v03.02.adoc | 57 ++++++++++--------- doc/releases/v03.03.adoc | 24 ++++---- doc/releases/versioning.adoc | 16 +++--- doc/setup/installing_linux_cpp.adoc | 6 +- doc/setup/installing_linux_python.adoc | 4 +- doc/setup/installing_windows_cpp.adoc | 8 +-- doc/setup/installing_windows_python.adoc | 2 +- .../modeling_traffic_participant.adoc | 13 +++-- .../transforming_coordinate_systems.adoc | 18 +++--- 28 files changed, 170 insertions(+), 169 deletions(-) diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 6f146eb41..13e5d70b9 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -1,7 +1,7 @@ = Overview of OSI architecture OSI contains an object-based environment description that uses the message format of the https://github.com/protocolbuffers/protobuf/wiki[Protocol Buffer] library. -The Protocol Buffer library was developed and is maintained by Google. +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`. @@ -27,15 +27,15 @@ image::{images_open_simulation_interface}/osi-traffic-participant-advanced.png[1 The `HostVehicleData` interface describes the measured internal states of a traffic participant. OSI currently provides only limited support for data structures that describe measured internal states of traffic participants. -Actuator intentions are currently not covered by OSI and must be handled with a different data description format. +Actuator intentions are currently not covered by OSI and must be handled using a different data description format. All fields in an interface are set to `optional`. `required` is not used. This has been done to allow backward-compatible changes in the field. -Additionally, this is the default behavior in Protocol Buffer version 3 that does no longer have the `required` type. +Additionally, this is the default behavior in Protocol Buffer version 3 that no longer has the `required` type. Setting all fields to `optional` thus ensures update compatibility. -However, this does not mean that filling the field is optional. -For the purpose of providing a complete interface, all existing fields should be set, unless not setting a field carries a specific meaning as indicated in the accompanying comment. +However, this does not mean that it is optional to fill the field. +For the purpose of providing a complete interface, all existing fields should be set, unless not setting a field carries a specific meaning, as indicated in the accompanying comment. All field numbers equal to or greater than 10000 are available for user-specific extensions via custom fields. -Therefore, no future evolution of OSI will use field numbers equal to or greater than 10000. \ No newline at end of file +No future evolution of OSI will therefore use field numbers equal to or greater than 10000. \ No newline at end of file diff --git a/doc/architecture/data_layer.adoc b/doc/architecture/data_layer.adoc index 2c3959bfd..9e048334f 100644 --- a/doc/architecture/data_layer.adoc +++ b/doc/architecture/data_layer.adoc @@ -1,14 +1,14 @@ = Data layer -The data layer of OSI is defined in the message specifications using the ProtoBuf IDL. -It defines the data that can be transmitted using OSI, including the structure and the semantics of the data. +The OSI data layer is defined in the message specifications using the ProtoBuf IDL. +This defines the data that can be transmitted using OSI, including the structure and the semantics of the data. Additionally, it specifies the encoding to be used when OSI data is transmitted. Currently, ProtoBuf encoding is used, but other encodings are possible with the ProtoBuf IDL. FlatBuffer encoding has been implemented as an experimental feature. The data layer does not directly define components and transmission routes. -These are defined in the packaging layer of OSI. +These are defined in the OSI packaging layer. There may be different packaging layer implementations using the shared data layer definitions. The data that is exchanged remains compatible regardless of the packaging layer implementation. The use of a shared data layer ensures easy bridging between different packaging layer implementations. \ No newline at end of file diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc index a92720506..e9b1c9c81 100644 --- a/doc/architecture/feature_data.adoc +++ b/doc/architecture/feature_data.adoc @@ -2,4 +2,4 @@ Feature-data messages contain detected features in the reference frame of a sensor. Feature-data messages are generated from ground-truth messages. -They serve, for example, as input to sensor models simulating object detection or feature fusion models. +They serve, for example, as an input to sensor models simulating object detection or feature fusion models. diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index 8bed56627..d1ee28b3d 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -1,6 +1,6 @@ = Trace-file formatting scripts -The OSI repository contains Python scripts for converting trace files from one format to the other. +The OSI repository contains Python scripts for converting trace files from one format to another. The formatting scripts are stored in `open-simulation-interface/format/` **txt2osi.py** @@ -13,7 +13,7 @@ String containing the path to the file with serialized data. `--type`, `-t`:: Optional string describing the message type used to serialize data. -Allowed values are `'SensorView'`, `'GroundTruth'`, or `'SensorData'`. +`'SensorView'`, `'GroundTruth'`, or `'SensorData'` are permitted values. The default value is `'SensorView'`. `--output`, `-o`:: @@ -21,8 +21,8 @@ Optional string containing the name of the output file. The default value is `'converted.osi'`. `--compress`, `-c`:: -Optional boolean controlling whether to compress the output to a lzma file. -Allowed values are `True`, or `False`. +Optional Boolean controlling whether to compress the output to an lzma file. +`True`, or `False` are permitted values. The default value is `False`. **osi2read.py** @@ -35,7 +35,7 @@ String containing the path to the file with serialized data. `--type`, `-t`:: Optional string describing the message type used to serialize data. -Allowed values are `'SensorView'`, `'GroundTruth'`, or `'SensorData'`. +`'SensorView'`, `'GroundTruth'`, or `'SensorData'` are permitted values. The default value is `'SensorView'`. `--output`, `-o`:: @@ -44,7 +44,7 @@ The default value is `'converted.txth'`. `--format`, `-f`:: Optional string containing the format type of the trace file. -Allowed values are `'separated'`, or `None`. +`'separated'`, or `None` are permitted values. The default value is `None`. **Related topics** diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index 9db2e216a..b6599acf0 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -1,5 +1,5 @@ = Ground truth Ground-truth messages describe the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances. -It is based on data available to the simulation environment. -Typically, ground-truth messages are contained in sensor view messages. \ No newline at end of file +They are based on data available to the simulation environment. +Ground-truth messages are typically contained in sensor view messages. \ No newline at end of file diff --git a/doc/architecture/packaging_layer.adoc b/doc/architecture/packaging_layer.adoc index 386394dcf..3c6182a56 100644 --- a/doc/architecture/packaging_layer.adoc +++ b/doc/architecture/packaging_layer.adoc @@ -1,8 +1,8 @@ = Packaging layer -The packaging layer of OSI specifies how components that use the OSI data layer, for example, sensor models, are packaged for exchange. +The OSI packaging layer specifies how components that use the OSI data layer, for example, sensor models, are packaged for exchange. -It specifies model types and their mandatory and optional OSI inputs, OSI outputs, and parameter interfaces. +This specifies model types and their mandatory and optional OSI inputs, OSI outputs, and parameter interfaces. A model type may be, for example, a sensor model or a traffic participant model. The packaging layer also specifies component technology standards. This makes it possible to encapsulate model types in easily exchangeable component packages that can be used across platforms and implementations. diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index 9504bd950..17722ac78 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,7 +1,7 @@ = Sensor data Sensor-data messages imitate the output of real sensors. -It can be generated from ground-truth messages, sensor-view messages, feature-data messages or from sensor-data messages. -Except feature data, all information regarding the environment is given with respect to the virtual sensor coordinate system. +They can be generated from ground-truth messages, sensor-view messages, feature-data messages, or sensor-data messages. +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. diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index a63f06433..a143ed182 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -5,5 +5,5 @@ Sensor-view messages are derived from ground-truth messages. All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: * Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor's mounting position. - Example of technology-specific data: https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1CameraSensorView.html#ac58456a34babf78792ea2608eb963f36[`image_data` of `osi3::CameraSensorView`] -* Ground truth, given in the global coordinate system. \ No newline at end of file + One example of technology-specific data is: https://opensimulationinterface.github.io/open-simulation-interface/structosi3_1_1CameraSensorView.html#ac58456a34babf78792ea2608eb963f36[`image_data` of `osi3::CameraSensorView`] +* Ground truth given in the global coordinate system. \ No newline at end of file diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index 46e878398..ed8165a5f 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,6 +1,6 @@ = Sensor view configuration -The sensor view is flexibly defined to provide different kinds of sensor models with appropriate input. +The sensor view is flexibly defined to provide different kinds of sensor models with an appropriate input. The sensor view configuration defines the configuration of a particular sensor view. The sensor-view-configuration message is used in the initialization phase of a simulation to negotiate the sensor view configuration for a particular sensor view input. @@ -8,20 +8,20 @@ It is also included as a sub-message in sensor view messages to indicate that th Sensor-view-configuration data has two main applications: -- It enables the environment simulation to provide the necessary input to a sensor model. -- It enables a sensor model to check whether the input matches its requirements. +- Enable the environment simulation to provide the necessary input to a sensor model. +- Enable a sensor model to check whether the input matches its requirements. If the input does not match the requirements, the sensor model may terminate the simulation. -NOTE: Sensor-view-configuration data is intended for the automatic configuration of the sensor view interface between environment simulation and sensor model. -The data is not intended as a mechanism to parametrize a generic sensor model. +NOTE: Sensor-view-configuration data is intended for the automatic configuration of the sensor view interface between an environment simulation and sensor model. +The data is not intended to be a mechanism for parametrizing a generic sensor model. During the initialization phase, there are two sources for sensor-view-configuration data: -1. Sensor-view-configuration data may be provided by the sensor model to the environment simulation. +1. Sensor-view configuration data may be provided by the sensor model to the environment simulation. In this case, the data describes the input configuration that is requested by the sensor model. -If no such data is provided by the sensor model, then the environment simulation will fall back to manual configuration of the sensor view. +If the sensor model does not provide such data, then the environment simulation will fall back to manual configuration of the sensor view. -2. Sensor-view-configuration data may be provided by the environment simulation. +2. Sensor-view configuration data may be provided by the environment simulation. In response to the request by the sensor model, or based on manual configuration, the environment simulation configures the input and provides a new message that describes the actual configuration. The configuration requested by the sensor model may differ from the configuration provided by the environment simulation. diff --git a/doc/architecture/trace_file_formats.adoc b/doc/architecture/trace_file_formats.adoc index cedc65075..a029d2d1b 100644 --- a/doc/architecture/trace_file_formats.adoc +++ b/doc/architecture/trace_file_formats.adoc @@ -1,7 +1,7 @@ [#top-1a2f4b0c-195c-4f18-89ad-d48a123bd8c1] = OSI trace file formats -There are multiple formats for storing multiple serialized OSI messages into one trace file. +There are multiple formats for storing multiple serialized OSI messages in one trace file. *.osi:: Binary trace file. @@ -16,4 +16,4 @@ Messages are separated by `$$__$$`. *.txth:: Human-readable plain-text trace file. Messages are separated by newlines. -Such a file may be used for manual checks. +These files may be used for manual checks. diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc index 225bce382..b2fbc8abc 100644 --- a/doc/architecture/trace_file_naming.adoc +++ b/doc/architecture/trace_file_naming.adoc @@ -2,7 +2,7 @@ **Name format** -Names of OSI trace files should have the following format: +The names of OSI trace files should have the following format: [source] ---- @@ -39,20 +39,20 @@ Given an OSI trace file with the following information: |Type |SensorView -|OSI Version +|OSI version |3.1.2 -|Protobuf Version +|Protobuf version |3.0.0 |Number of frames |1523 -|Custom Trace Name +|Custom trace name |highway |=== -The recommended file name is: +The recommended file name is: [source] ---- diff --git a/doc/architecture/traffic_participant.adoc b/doc/architecture/traffic_participant.adoc index fdce08be9..5e6ccd993 100644 --- a/doc/architecture/traffic_participant.adoc +++ b/doc/architecture/traffic_participant.adoc @@ -1,16 +1,16 @@ = Traffic participant -A traffic participant is an element of the simulated world, which can change its state during simulation time, for example, position and orientation. +A traffic participant is an element of the simulated world and can change its state during simulation time, for example, its position and orientation. A traffic participant represents one of the following: -- A living being. -- A means of transportation for living beings -- A means of transportation for goods -- Any other movable object that may travel the road network +- Living being. +- Means of transportation for living beings +- Means of transportation for goods +- Any other movable object that may travel on the road network Pedestrians and animals are examples of traffic participants that are living beings. -Vehicles are examples of traffic participants that are means of transportation. -Therefore, the ego vehicle is also a traffic participant. +Vehicles are examples of traffic participants that are a means of transportation. +The ego vehicle is therefore also a traffic participant. The following figure shows the interface of a traffic participant. @@ -28,4 +28,4 @@ A traffic participant can output its own perceivable state, the traffic update. Traffic commands influence the behavior of the traffic participant model. They allow event-based communication towards the traffic participant, that is, at certain simulation steps. Traffic commands do not necessarily need to come from the environment simulation. -They may come from a separate source, for example, a scenario engine. \ No newline at end of file +They may come from a separate source, such as a scenario engine. \ No newline at end of file diff --git a/doc/architecture/traffic_update.adoc b/doc/architecture/traffic_update.adoc index 29ed49c5a..528056991 100644 --- a/doc/architecture/traffic_update.adoc +++ b/doc/architecture/traffic_update.adoc @@ -1,4 +1,4 @@ = Traffic update Traffic-update messages are provided by traffic participants. -They provide updates of the position, state and future trajectory of a traffic participant back to the simulation environment. \ No newline at end of file +They provide updates on the position, state, and future trajectory of a traffic participant back to the simulation environment. \ No newline at end of file diff --git a/doc/misc/osi_vision.adoc b/doc/misc/osi_vision.adoc index f9dc39d93..9e5cb6171 100644 --- a/doc/misc/osi_vision.adoc +++ b/doc/misc/osi_vision.adoc @@ -1,5 +1,5 @@ -= The idea of Open Simulation Interface += Idea behind Open Simulation Interface The Open Simulation Interface (OSI) is a specification for interfaces between models and components of a distributed simulation. -OSI has a strong focus on environmental perception of automated driving functions. +OSI is strongly focused on the environmental perception of automated driving functions. However, OSI also specifies interfaces for modeling traffic participants. \ No newline at end of file diff --git a/doc/releases/v02.00.adoc b/doc/releases/v02.00.adoc index 38f903060..b93d1d2ae 100644 --- a/doc/releases/v02.00.adoc +++ b/doc/releases/v02.00.adoc @@ -6,27 +6,26 @@ This is the initial version of the Open Simulation Interface (OSI). == Overview OSI is a generic interface for the environmental perception of automated driving functions in virtual scenarios. -It is primarily conceived to enable easy and straightforward compatibility between automated driving functions and the variety of driving simulation frameworks available. -The data description has been derived from the perspective of sensor modeling for automated test and validation of highly automated driving functions. +It has been primarily conceived to enable easy and straightforward compatibility between automated driving functions and the variety of driving simulation frameworks that are available. +The data description has been derived from the perspective of sensor modeling for automated testing and validation of highly automated driving functions. == Implementation -OSI primarily contains an object based environment description using the message format of the protocol buffers library developed and maintained by Google. +OSI primarily contains an object based environment description using the message format of the protocol buffers library, which Google has developed and maintains. == Detailed description - -Top level interfaces:: +Top-level interfaces:: OSI consists of two individual top level interfaces for object data: The ``OSI::GroundTruth`` and the ``OSI::SensorData`` interface. + -* The ``OSI::GroundTruth`` interface provides an exact view on the simulated objects in a global coordinate system. -This message is populated using the internally available data of the used (driving)-simulation framework and is afterwards published to external subscribers with an exporter plugin. +* The ``OSI::GroundTruth`` interface provides an exact view of the simulated objects in a global coordinate system. +This message is populated using the internally available data of the used (driving) simulation framework and then published to external subscribers with an exporter plugin. * The ``OSI::SensorData`` interface describes the objects in the reference frame of a sensor for environmental perception. -It is generated from a ``OSI::GroundTruth`` message and can either be used to directly connect to an automated driving function using ideal simulated data, or may serve as input for a sensor model simulating limited perception as a replication of real world sensor behavior. +It is generated from an ``OSI::GroundTruth`` message and can either be used to directly connect to an automated driving function using ideal simulated data, or it may serve as an input for a sensor model simulating limited perception as a replication of real world sensor behavior. -Low level interfaces:: +Low-level interfaces:: + -Additionally to the two top level interfaces, OSI contains an ``OSI::LowLevelData`` message. +In addition to the two top-level interfaces, OSI contains an ``OSI::LowLevelData`` message. This message describes the output of a (physical) model of the measurement process before tracking and object hypothesis. -It does not deal with object data, but may comprise the geometrical influence of 3D simulations e.g. generating Lidar point clouds with a ray-tracer plugin. -In addition this message supports generic radar reflection lists and will be extended to supporting low level camera data in the future. +It does not deal with object data, but may comprise the geometrical influence of 3D simulations, for example, generating Lidar point clouds with a ray-tracer plugin. +This message also supports generic radar reflection lists and will be extended to supporting low-level camera data in the future. diff --git a/doc/releases/v02.01.adoc b/doc/releases/v02.01.adoc index 005e4e1ac..23850d102 100644 --- a/doc/releases/v02.01.adoc +++ b/doc/releases/v02.01.adoc @@ -2,11 +2,11 @@ == Purpose -This is the initial BASE VERSION for Tool Development. +This is the initial BASE VERSION for tool development. https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/1?closed=1[Content/Changes] == Remarks -We will now release the versions using the name of a https://en.wikipedia.org/wiki/List_of_Formula_One_drivers[Formula 1 driver]! +We will be releasing the versions using the name of a https://en.wikipedia.org/wiki/List_of_Formula_One_drivers[Formula 1 driver]! Naming convention: "adjective + last name driver" -> Alliteration necessary! \ No newline at end of file diff --git a/doc/releases/v02.02.adoc b/doc/releases/v02.02.adoc index a0ef709e7..2b12de277 100644 --- a/doc/releases/v02.02.adoc +++ b/doc/releases/v02.02.adoc @@ -7,11 +7,11 @@ This release focuses on optimizing the build process and documentation. == https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/2?closed=1[Content/Changes] * Added a shared library target to the CMake build script. -* Generated a proper doxygen documentation. +* Generated proper doxygen documentation. * Placed the version number in one file (VERSION). * Added unit testing mechanism including style guide checking. * Redefined precipitation and added a fog definition to the environmental conditions message. -* Added layer id to low level point cloud data. +* Added a layer id to low-level point cloud data. * Reworked large parts of the build instructions in the WIKI. = https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v2.2.1[v2.2.1 - OSI "Brave Brabham", Update 1] @@ -22,5 +22,5 @@ This release focuses on optimizing the build process and ensures the proper inst == https://github.com/OpenSimulationInterface/open-simulation-interface/compare/maintenance/v2.2.x[Content/Changes] -* Allowing several OSI versions on the same computer. -* Improves CI builds to also test the installation cmake targets for proper completion. +* Allowed several OSI versions on the same computer. +* Improved CI builds to also test the installation cmake targets for proper completion. diff --git a/doc/releases/v03.00.adoc b/doc/releases/v03.00.adoc index 75c25a959..1b3e8de33 100644 --- a/doc/releases/v03.00.adoc +++ b/doc/releases/v03.00.adoc @@ -2,7 +2,7 @@ == Purpose -This release is a complete rework including the feedback from many OSI users. +This release is a complete rework and includes feedback from many OSI users. Thank you! We are aligned with the ongoing discussions for the upcoming ISO 23150 standard for hardware sensor outputs in order to bring simulation and the hardware in the car closer together. @@ -12,46 +12,46 @@ We are aligned with the ongoing discussions for the upcoming ISO 23150 standard * Added new top-level messages (new concept SensorView (Configuration),etc.). ** GroundTruth. ** SensorView. -** SensorData / FeatureData. +** SensorData/FeatureData. ** SensorViewConfiguration (used for auto-configuration of SensorView). * Added technology-specific SensorView sub-messages to aid physical models. * Introduced conceptual separation of “SensorModels” and “LogicModels”. -* Extended enumerations (e.g. traffic sign Type according to StVO, vehicle Type, etc.). +* Extended enumerations (for example, traffic sign type according to StVO and vehicle type). * Improved messages and definitions (additional RoadConditions, country code in GT, AmbientIllumination, etc.). -* Use ISO 8855 coordinate systems (incompatible with earlier OSI versions). +* Introduced ISO 8855 coordinate systems (incompatible with earlier OSI versions). * Redefined DetectedXXX messages. * Introduced DetectedStationaryObjects. * Merged MovingObjects and Vehicle messages. * Redefined Lane messages (with separated lane boundary messages and intersections). * Redefined TrafficLight messages. -* Redefined TrafficSigns (1 x MainSign + n x SupplementarySign inclusive BaseStationary). +* Redefined TrafficSigns (1 x MainSign + n x SupplementarySign including BaseStationary). * New FeatureData messages (rework of previous LowLevelData message) - aligned with an upcoming standard ISO 23150. -* FeatureData usable for fusion units. -* Extension and clarification of the existing doxygen documentation. +* Made FeatureData usable for fusion units. +* Extended and clarified the existing doxygen documentation. * Improved doxygen collaboration diagrams. -* Build process improvements, added install targets. +* Improved Build process and added install targets. * Made proto definitions compatible with proto3 restrictions to allow concurrent use with proto3-only implementations in the future. * Fixed version-checking of transmitted data. -* AND MUCH MORE ENJOY!!! +* AND MUCH MORE, SO PLEASE ENJOY!!! -https://github.com/OpenSimulationInterface/open-simulation-interface/files/2297162/osi_overview_v2.2_vs_v3.0.pdf>[See for more information the `changelog`] +https://github.com/OpenSimulationInterface/open-simulation-interface/files/2297162/osi_overview_v2.2_vs_v3.0.pdf>[For more information, view the `changelog`] = https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.0.1[v3.0.1 - OSI "Cosmic Coulthard", Update 1] -https://www.youtube.com/watch?v=yG0oBPtyNb0[Summertime :)] +https://www.youtube.com/watch?v=yG0oBPtyNb0[Summer time :)] == Purpose -This release is a patch reworking parts of the documentation in order to avoid ambiguities and improving the build/installation process of OSI. +This release is a patch reworking parts of the documentation in order to avoid ambiguities and improve the OSI build/installation process. == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.1[Content/Changes] -* Added script to automatically convert the messages from proto2 to proto3 with on the wire compatibility -* cmake enhancements to enable multi-version support of OSI 2 and OSI 3 -* Added Python 3 support -* Clarification of multiple comments -* Added explanatory images in the documentation -* centerline definition improved -* signal_strength definition in LidarSensorView corrected -* FeatureData::ambiguity_id definition clarified -* RadarSensorViewConfiguration::AntennaDiagram::response definition clarified +* Added script to automatically convert the messages from proto2 to proto3 with on the wire compatibility. +* Made cmake enhancements to enable multi-version support for OSI 2 and OSI 3. +* Added Python 3 support. +* Clarified multiple comments. +* Added explanatory images in the documentation. +* Improved centerline definition. +* Corrected signal_strength definition in LidarSensorView. +* Clarified FeatureData::ambiguity_id definition. +* Clarified RadarSensorViewConfiguration::AntennaDiagram::response definition. diff --git a/doc/releases/v03.01.adoc b/doc/releases/v03.01.adoc index 1835671b7..414402b24 100644 --- a/doc/releases/v03.01.adoc +++ b/doc/releases/v03.01.adoc @@ -4,16 +4,16 @@ https://www.youtube.com/watch?v=fu3uA8K6ApQ>[(O SI)lent night] == Purpose -This time of the year Santa comes with presents and has also thought about the sensor modelers of this planet. -We introduce the current state of the ISO 23150 discussions including Ultrasonic and Camera Detections. +At this time of the year Santa goes on his rounds and has also given thought to this planet’s sensor modelers.”. +We have taken note of the current status of the ISO 23150 discussions, including ultrasonic and camera detections. The traffic signs have been reworked and the documentation has been extended for a perfect user experience. Trust me - it's amazing! == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.0>[Content/Changes] -* Complete rework of traffic signs including images in documentation. -* Added Camera Detections in osi_featuredata.proto. -* Added Ultrasonic Detections in osi_featuredata.proto. +* Completely reworked traffic signs including images in documentation. +* Added camera detections in osi_featuredata.proto. +* Added ultrasonic detections in osi_featuredata.proto. * Introduced light states for emergency and service vehicles. * Added orientation_acceleration and updated formulas. * Extended documentation with svg images. @@ -27,8 +27,8 @@ Trust me - it's amazing! == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.1[Content/Changes] -* **Bug Fix**: Changed open_simulation_interface target back from being a static library to a shared library, as before (this reverts an inadvertent change in v3.1.0 from previous releases). -v3.1.0 breaks all users of the shared library (i.e. everyone building on Linux/Unix systems, and even some using the DLL on Windows). +* **Bug Fix**: Changed open_simulation_interface target back from being a static library to its previous state as a shared library (this reverts an inadvertent change in v3.1.0 from previous releases). +v3.1.0 breaks all users of the shared library (that is, everyone building on Linux/Unix systems, and even some using the DLL on Windows). = https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.1.2[v3.1.2 - OSI "Dynamic Duncan", Update 2] diff --git a/doc/releases/v03.02.adoc b/doc/releases/v03.02.adoc index 28fa51e97..f4c7d64af 100644 --- a/doc/releases/v03.02.adoc +++ b/doc/releases/v03.02.adoc @@ -4,35 +4,36 @@ https://www.youtube.com/watch?v=SJUhlRoBL8M[Think p(OSI)tive!] == Purpose -The work on the OSI project was until now mainly organized by the BMW AG. -In order to enable as many interested parties as possible to contribute to the success of the Open Simulation Interface the project has been transferred to the https://www.asam.net/[ASAM e.V.] which has been made public in the https://www.asam.net/news-media/news/detail/news/bmw-transfers-open-simulation-interface-osi-to-asam/[ASAM press release]. -A new chapter in the development of OSI is now opened with the https://www.asam.net/conferences-events/detail/asam-osi-kick-off-workshop/[kickoff workshop] leading to hopefully many project proposals streamlining the efficient future development of the interface. -Due to this we decided to focus on the improvement of processes and documentation with this release. +It was previously the case that the company BMW AG organized most of the work on the OSI project. +To make it possible for as many interested parties as possible to contribute to the success of the Open Simulation Interface, the project has been transferred to https://www.asam.net/[ASAM e.V.]. +This has been made public in the https://www.asam.net/news-media/news/detail/news/bmw-transfers-open-simulation-interface-osi-to-asam/[ASAM press release]. +A new chapter in the development of OSI has been opened with the https://www.asam.net/conferences-events/detail/asam-osi-kick-off-workshop/[kickoff workshop], which will hopefully generate lots of project proposals to streamline the efficient future development of the interface. +Whith this release, we therefore decided to focus on improving processes and documentation. == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.2.0[Content/Changes] -* Updated README according to K(eep) I(t) S(imply) S(tupid) principle -* Added Issue and Pullrequest templates -* Travis CI updated -** Update to bionic 18.04 -** Added tests for building protobuf 2.6 and 3.0 in parallel -** Bugfixed the display of doubled documentation -* Fixed several typos in the comments -* Added a centralized documentation in https://github.com/OpenSimulationInterface/osi-documentation[OSI-Documentation] -** Added contributors guidelines -** Added commenting style guidelines -** Added uniform citation style according to APA -** Updated installation guides for osi in Linux and Windows -** Added a reference in sphinx based on the generated doxygen documentation -* Added rules to the comments in order to enforce osi message validation with the https://github.com/OpenSimulationInterface/osi-validation[OSI-Validator] -* Added the rule definitions in the rules.yml -* Modularized testing of commenting style into python unit tests -* Defined a standardazied a file format for reading trace files (*.osi) -* Defined naming conventions of osi files -* Added a *.txt to *.osi file converter for backward compatibility -* Added a script to make traces readable for plausibility checks -* Corrected the citing style for OSI Bibtex -* Corrected unit specifications and references according to DIN (e.g. removed Unit: []) -* Added timestamp in osi_environment -* Added is_out_of_service bool to traffic light / traffic sign +* Updated README according to K(eep) I(t) S(imply) S(tupid) principle. +* Added Issue and Pullrequest templates. +* Updated Travis CI. +** Updated to bionic 18.04. +** Added tests for building protobuf 2.6 and 3.0 in parallel. +** Bugfixed the display of doubled documentation. +* Fixed several typos in the comments. +* Added a centralized documentation in https://github.com/OpenSimulationInterface/osi-documentation[OSI-Documentation]. +** Added contributors guidelines. +** Added commenting style guidelines. +** Added a uniform citation style based on APA. +** Updated installation guides for osi in Linux and Windows. +** Added a reference in sphinx based on generated doxygen documentation. +* Added rules to the comments to enforce osi message validation with the https://github.com/OpenSimulationInterface/osi-validation[OSI-Validator]. +* Added the rule definitions in the rules.yml. +* Modularized testing of commenting style into python unit tests. +* Defined a standardized file format for reading trace files (*.osi). +* Defined naming conventions for osi files. +* Added a *.txt to *.osi file converter for backward compatibility. +* Added a script to make traces readable for plausibility checks. +* Corrected the citing style for OSI Bibtex. +* Corrected unit specifications and references according to DIN (for example, removed Unit: []). +* Added a timestamp in osi_environment. +* Added is_out_of_service bool to traffic light / traffic sign. diff --git a/doc/releases/v03.03.adoc b/doc/releases/v03.03.adoc index 457c12e21..35ad04c19 100644 --- a/doc/releases/v03.03.adoc +++ b/doc/releases/v03.03.adoc @@ -4,30 +4,30 @@ Stay p(OSI)tive! == Purpose -As a part of the increasing adoption of OSI in the industry, and its movement to ASAM as its home, several new use cases and extensions for OSI have been identified. -This minor release highlights the work that has been done on several working packages including the introduction of brand new top level messages which extend OSI's scope beyond the specialized world of sensor modeling. +With the increasing adoption of OSI within the industry and its migration to ASAM as its home, several new use cases and extensions for OSI have been identified. +This minor release highlights the work that has been done on several working packages, including the introduction of brand new top-level messages which extend OSI's scope beyond the specialized world of sensor modeling. == https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/13?closed=1[Content/Changes] -* Introduced the TrafficCommand top-level message which enables event-based control of traffic participant models, e.g. with regard to a scenario specification. -* Introduced the TrafficUpdate top-level message to send updated properties of traffic participant models. -* Add new LogicalDetectionData message to SensorData, which provides detection data with respect to the reference frame of the logical/virtual sensor. +* Introduced the TrafficCommand top-level message which enables event-based control of traffic participant models, for example, with regard to a scenario specification. +* Introduced the TrafficUpdate top-level message to send updated properties of traffic participant models. +* Added new LogicalDetectionData message to SensorData, which provides detection data with respect to the reference frame of the logical/virtual sensor. * Added a new submessage to further specify wheel data. * Added a new field to support future trajectories of moving objects. -* Added a new subtype message to osi_lane to better align with OpenDrive's lane type information and enable traffic participant models to identify lanes on which they are supposed to move. -* Extended traffic lights and signs messages to include the model_references attribute that can be used to point out to a 3D-model. -* Add global model reference to ground truth that can be used to specify the 3D model representing the environment. +* Added a new subtype message to osi_lane to better align with OpenDrive's lane type information and enable traffic participant models to identify lanes in which they are supposed to move. +* Extended traffic lights and signs messages to include the model_references attribute that can be used to point to a 3D-model. +* Added global model reference to ground truth that can be used to specify the 3D model representing the environment. * Extended the camera sensor view configuration to better support the configuration of the simulation environment. * Added a new field to describe the position of the steering wheel. * Added a message MovingObjectClassification for classify-able attributes that are shared between different moving object types. Introduced the assigned lane id and the assigned lane percentage of a moving object there. -* Updated to checklist for pull requests to provide clearer orientation for all users. +* Updated the checklist for pull requests to provide clearer guidance for all users. * Updated the documentation of centerline and lane boundaries (ordering of the points, describing those lines). -* Updated the documentation of 3D bounding boxes. -* Update the documentation of ground clearance. +* Updated the documentation for 3D bounding boxes. +* Updated the ground clearance documentation. -* Make handling of enums in rules check more robust, especially ones. +* Made handling of enums in rules check more robust, especially ones. * Set the default compiler to C++ 11 to support protobuf>3.6. = https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.3.1[v3.3.1 - OSI "Fabulous Fangio", Update 1] diff --git a/doc/releases/versioning.adoc b/doc/releases/versioning.adoc index bdaf96f13..f8d347b48 100644 --- a/doc/releases/versioning.adoc +++ b/doc/releases/versioning.adoc @@ -1,23 +1,23 @@ -= Versioning and Compatibility += Versioning and compatibility The version number is defined in `InterfaceVersion::version_number` in `osi_version.proto` as the field's default value. OSI uses https://semver.org/[Semantic Versioning]. Major:: -A change of the major version results in an incompatibility of code and recorded proto messages. +A change in the major version makes the code and recorded proto messages incompatible. + Major changes include: + -* An existing field with a number changes its meaning. +* An existing field with a number changing its meaning. Example: `optional double field = 1;` changes to `repeated double field = 1;`. * Changing the definition of units or the interpretation of a field. * Deleting a field and reusing the field number. * Changing the technology from Protocol Buffers to FlatBuffers. Minor:: -A change of the minor version indicates remaining compatibility to previously recorded files. -The code on the other hand needs fixing. +A change in the minor version indicates there is still compatibility with previously recorded files. +However, the code needs fixing. + Minor changes include: + @@ -26,10 +26,10 @@ Minor changes include: * Adding a new field in a message without changing the numbering of other fields. Patch:: -The compatibility of both recorded files and code remains. +Both recorded files and code still have compatibility. + Patches include: + -* File or folder structure which does not affect including the code in other projects. +* File or folder structure that does not affect integration of the code in other projects. * Changing or adding comments. -* Clarification of text passages explaining the message content. +* Clarifying text passages explaining the message content. diff --git a/doc/setup/installing_linux_cpp.adoc b/doc/setup/installing_linux_cpp.adoc index c743b197b..4dd9c1a10 100644 --- a/doc/setup/installing_linux_cpp.adoc +++ b/doc/setup/installing_linux_cpp.adoc @@ -2,7 +2,7 @@ **Prerequisites** -* You have _cmake_ installed. +* You have installed _cmake_. * You have installed _protobuf_. * You must have super user privileges. @@ -16,7 +16,7 @@ git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git ---- + -. Change into the repository directory. +. Switch to the repository directory. + [source] ---- @@ -30,7 +30,7 @@ cd open-simulation-interface mkdir build ---- + -. Change into the new directory. +. Switch to the new directory. + [source] ---- diff --git a/doc/setup/installing_linux_python.adoc b/doc/setup/installing_linux_python.adoc index 8b753aba8..8d0069c67 100644 --- a/doc/setup/installing_linux_python.adoc +++ b/doc/setup/installing_linux_python.adoc @@ -5,7 +5,7 @@ * You have installed _pip3_. * You have installed _python-setuptools_. * You have installed _protobuf_. -* For local installation, you have installed _virtualenv_. +* For a local installation, you have installed _virtualenv_. **Steps** @@ -17,7 +17,7 @@ git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git ---- + -. Change into the repository directory. +. Switch to the repository directory. + [source] ---- diff --git a/doc/setup/installing_windows_cpp.adoc b/doc/setup/installing_windows_cpp.adoc index 93ad4c9d3..44757cfa9 100644 --- a/doc/setup/installing_windows_cpp.adoc +++ b/doc/setup/installing_windows_cpp.adoc @@ -2,8 +2,8 @@ **Prerequisites** -* You have installed _cmake_ as administrator. -* You have installed _protobuf_ as administrator. +* You have installed _cmake_ as an administrator. +* You have installed _protobuf_ as an administrator. **Steps** @@ -15,7 +15,7 @@ git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git ---- + -. Change into the repository directory. +. Switch to the repository directory. + [source] ---- @@ -29,7 +29,7 @@ cd open-simulation-interface mkdir build ---- + -. Change into the new directory. +. Switch to the new directory. + [source] ---- diff --git a/doc/setup/installing_windows_python.adoc b/doc/setup/installing_windows_python.adoc index f1b0640e3..4f48d42d9 100644 --- a/doc/setup/installing_windows_python.adoc +++ b/doc/setup/installing_windows_python.adoc @@ -15,7 +15,7 @@ git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git ---- + -. Change into the repository directory. +. Switch to the repository directory. + [source] ---- diff --git a/doc/usecases/modeling_traffic_participant.adoc b/doc/usecases/modeling_traffic_participant.adoc index e1898024b..e3d10e7c2 100644 --- a/doc/usecases/modeling_traffic_participant.adoc +++ b/doc/usecases/modeling_traffic_participant.adoc @@ -14,22 +14,23 @@ The following figure shows a very simple use case. image::{images_open_simulation_interface}/osi-traffic-participant-use-case-1.png[1100] The traffic participant bases its behavior only on an idealized view of the area around it. -If they exist, the traffic participant's dynamics are included in the model. +The traffic participant's dynamics are included in the model if they exist. The following figure shows a traffic participant with separately modeled behavior and dynamics. .Traffic participants with separate dynamics image::{images_open_simulation_interface}/osi-traffic-participant-use-case-2.png[1100] -OSI currently provides only limited support for data structures describing measured internal states of the traffic participant. -Actuator intentions are currently not covered by OSI and must be handled with a different data description format. +OSI currently provides only limited support for data structures that describe measured internal states of the traffic participant. +OSI does not currently cover actuator intentions. +These must be handled with a different data description format. The following figure shows a more complex traffic participant. .Traffic participant with sensor models, AD function, and dynamics model image::{images_open_simulation_interface}/osi-traffic-participant-use-case-3.png[1100] -This use case will probably be relevant for modeling the ego vehicle, which includes the system-under-test. +This use case will probably be relevant for modeling the ego vehicle, which includes the system under test. The traffic participant includes an arbitrary number of sensor models. The sensor models consume sensor view and produce sensor data. The AD function consumes sensor data and produces input for the dynamics model. @@ -38,11 +39,11 @@ The loop to the environment simulation is closed via traffic update. The following figure shows a cooperative use case with both an AD function and a human driver. -.Traffic participant with an AD function and a human driver +.Traffic participant with an AD function and human driver image::{images_open_simulation_interface}/osi-traffic-participant-use-case-4.png[1100] It is possible to model a traffic participant with an AD function in the loop, but a human driver can still override the actuation command. -Such a cooperative use case is, for example, relevant to studies on human-machine interaction. +This type of cooperative use case is, for example, relevant to studies on human-machine interaction. In this example, a virtual on-screen representation of the scenario, or mock-up, is added after the AD function. The driver-in-the-loop interacts with the dynamics model via this mock-up. OSI's limitations regarding dynamics-model input apply in this example as well. \ No newline at end of file diff --git a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc index 7a9743aa1..6935d8bef 100644 --- a/doc/usecases/transforming_coordinate_systems.adoc +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -1,11 +1,11 @@ -= Coordinate Transformations += Coordinate transformations -== Vehicle and Sensor Coordinate Systems +== Vehicle and sensor coordinate systems -Transforming coordinates from the world coordinate system for a specific vehicle and its sensors is frequently needed when running simulations. +When running simulations, it is frequently necessary to transform coordinates from the world coordinate system for a specific vehicle and its sensors. -This section provides an overview of the involved messages and fields and their relationship for this task. -It demonstrates how world coordinate system, vehicle coordinate system, and sensor coordinate system are related given a specific (ego-)vehicle. +This section provides an overview of the messages and fields involved and their relationship for this task. +It demonstrates how a world coordinate system, vehicle coordinate system, and sensor coordinate system are related on the basis of a specific (ego) vehicle. //TODO: Should we add one or more sentences about the mathematical operations involved? @@ -13,16 +13,16 @@ It demonstrates how world coordinate system, vehicle coordinate system, and sens ``GroundTruth::moving_object::base::position``:: This field defines the position of the vehicle's reference point in world coordinates. -In Open Simulation Interface, the position of an object is defined by the coordinates of the center of the object's 3D bounding box. +In Open Simulation Interface, an object's position is defined by the coordinates of the center of the object's 3D bounding box. ``GroundTruth::moving_object::base::orientation``:: This field defines the orientation of the vehicle's reference point in world coordinates. ``GroundTruth::moving_object::vehicle_attributes::bbcenter_to_rear``:: -This field specifies the vector pointing from the vehicle's reference point to the middle of the rear axle under neutral load conditions in vehicle coordinates. +This field specifies the vector pointing from the vehicle's reference point to the middle of the rear axle under neutral load conditions in the vehicle coordinates. ``SensorData::mounting_position``:: -This field defines the sensor's position and orientation and, thereby, the origin of the sensor coordinate system. +This field defines the sensor's position and orientation and thereby the origin of the sensor coordinate system. The mounting position is given in the vehicle coordinate system. **Example** @@ -30,6 +30,6 @@ The mounting position is given in the vehicle coordinate system. The following image shows the relationship between the coordinate systems. The reference point of the vehicle is given by a vector in the world coordinate system. A vector pointing from the reference position of the vehicle to the center of the rear axle then yields the origin of the vehicle coordinate system. -The mounting positions of the sensors and, therefore, the origins of the corresponding sensor coordinate systems are given with respect to the vehicle coordinate system. +The mounting positions of the sensors and therefore the origins of the corresponding sensor coordinate systems are given with respect to the vehicle coordinate system. image::{images_open_simulation_interface}/osi_example_coordinate_systems.png[] \ No newline at end of file From 0ef12951b4a4f28ac48576426f6a5ef4107c5ace Mon Sep 17 00:00:00 2001 From: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Date: Fri, 10 Sep 2021 17:05:11 +0200 Subject: [PATCH 132/219] docs: reverted changes in release notes MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Patrick Schedlbauer <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/releases/v02.00.adoc | 23 ++++++++------- doc/releases/v02.01.adoc | 4 +-- doc/releases/v02.02.adoc | 8 ++--- doc/releases/v03.00.adoc | 42 +++++++++++++------------- doc/releases/v03.01.adoc | 14 ++++----- doc/releases/v03.02.adoc | 57 ++++++++++++++++++------------------ doc/releases/v03.03.adoc | 24 +++++++-------- doc/releases/versioning.adoc | 16 +++++----- 8 files changed, 94 insertions(+), 94 deletions(-) diff --git a/doc/releases/v02.00.adoc b/doc/releases/v02.00.adoc index b93d1d2ae..38f903060 100644 --- a/doc/releases/v02.00.adoc +++ b/doc/releases/v02.00.adoc @@ -6,26 +6,27 @@ This is the initial version of the Open Simulation Interface (OSI). == Overview OSI is a generic interface for the environmental perception of automated driving functions in virtual scenarios. -It has been primarily conceived to enable easy and straightforward compatibility between automated driving functions and the variety of driving simulation frameworks that are available. -The data description has been derived from the perspective of sensor modeling for automated testing and validation of highly automated driving functions. +It is primarily conceived to enable easy and straightforward compatibility between automated driving functions and the variety of driving simulation frameworks available. +The data description has been derived from the perspective of sensor modeling for automated test and validation of highly automated driving functions. == Implementation -OSI primarily contains an object based environment description using the message format of the protocol buffers library, which Google has developed and maintains. +OSI primarily contains an object based environment description using the message format of the protocol buffers library developed and maintained by Google. == Detailed description -Top-level interfaces:: + +Top level interfaces:: OSI consists of two individual top level interfaces for object data: The ``OSI::GroundTruth`` and the ``OSI::SensorData`` interface. + -* The ``OSI::GroundTruth`` interface provides an exact view of the simulated objects in a global coordinate system. -This message is populated using the internally available data of the used (driving) simulation framework and then published to external subscribers with an exporter plugin. +* The ``OSI::GroundTruth`` interface provides an exact view on the simulated objects in a global coordinate system. +This message is populated using the internally available data of the used (driving)-simulation framework and is afterwards published to external subscribers with an exporter plugin. * The ``OSI::SensorData`` interface describes the objects in the reference frame of a sensor for environmental perception. -It is generated from an ``OSI::GroundTruth`` message and can either be used to directly connect to an automated driving function using ideal simulated data, or it may serve as an input for a sensor model simulating limited perception as a replication of real world sensor behavior. +It is generated from a ``OSI::GroundTruth`` message and can either be used to directly connect to an automated driving function using ideal simulated data, or may serve as input for a sensor model simulating limited perception as a replication of real world sensor behavior. -Low-level interfaces:: +Low level interfaces:: + -In addition to the two top-level interfaces, OSI contains an ``OSI::LowLevelData`` message. +Additionally to the two top level interfaces, OSI contains an ``OSI::LowLevelData`` message. This message describes the output of a (physical) model of the measurement process before tracking and object hypothesis. -It does not deal with object data, but may comprise the geometrical influence of 3D simulations, for example, generating Lidar point clouds with a ray-tracer plugin. -This message also supports generic radar reflection lists and will be extended to supporting low-level camera data in the future. +It does not deal with object data, but may comprise the geometrical influence of 3D simulations e.g. generating Lidar point clouds with a ray-tracer plugin. +In addition this message supports generic radar reflection lists and will be extended to supporting low level camera data in the future. diff --git a/doc/releases/v02.01.adoc b/doc/releases/v02.01.adoc index 23850d102..005e4e1ac 100644 --- a/doc/releases/v02.01.adoc +++ b/doc/releases/v02.01.adoc @@ -2,11 +2,11 @@ == Purpose -This is the initial BASE VERSION for tool development. +This is the initial BASE VERSION for Tool Development. https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/1?closed=1[Content/Changes] == Remarks -We will be releasing the versions using the name of a https://en.wikipedia.org/wiki/List_of_Formula_One_drivers[Formula 1 driver]! +We will now release the versions using the name of a https://en.wikipedia.org/wiki/List_of_Formula_One_drivers[Formula 1 driver]! Naming convention: "adjective + last name driver" -> Alliteration necessary! \ No newline at end of file diff --git a/doc/releases/v02.02.adoc b/doc/releases/v02.02.adoc index 2b12de277..a0ef709e7 100644 --- a/doc/releases/v02.02.adoc +++ b/doc/releases/v02.02.adoc @@ -7,11 +7,11 @@ This release focuses on optimizing the build process and documentation. == https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/2?closed=1[Content/Changes] * Added a shared library target to the CMake build script. -* Generated proper doxygen documentation. +* Generated a proper doxygen documentation. * Placed the version number in one file (VERSION). * Added unit testing mechanism including style guide checking. * Redefined precipitation and added a fog definition to the environmental conditions message. -* Added a layer id to low-level point cloud data. +* Added layer id to low level point cloud data. * Reworked large parts of the build instructions in the WIKI. = https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v2.2.1[v2.2.1 - OSI "Brave Brabham", Update 1] @@ -22,5 +22,5 @@ This release focuses on optimizing the build process and ensures the proper inst == https://github.com/OpenSimulationInterface/open-simulation-interface/compare/maintenance/v2.2.x[Content/Changes] -* Allowed several OSI versions on the same computer. -* Improved CI builds to also test the installation cmake targets for proper completion. +* Allowing several OSI versions on the same computer. +* Improves CI builds to also test the installation cmake targets for proper completion. diff --git a/doc/releases/v03.00.adoc b/doc/releases/v03.00.adoc index 1b3e8de33..75c25a959 100644 --- a/doc/releases/v03.00.adoc +++ b/doc/releases/v03.00.adoc @@ -2,7 +2,7 @@ == Purpose -This release is a complete rework and includes feedback from many OSI users. +This release is a complete rework including the feedback from many OSI users. Thank you! We are aligned with the ongoing discussions for the upcoming ISO 23150 standard for hardware sensor outputs in order to bring simulation and the hardware in the car closer together. @@ -12,46 +12,46 @@ We are aligned with the ongoing discussions for the upcoming ISO 23150 standard * Added new top-level messages (new concept SensorView (Configuration),etc.). ** GroundTruth. ** SensorView. -** SensorData/FeatureData. +** SensorData / FeatureData. ** SensorViewConfiguration (used for auto-configuration of SensorView). * Added technology-specific SensorView sub-messages to aid physical models. * Introduced conceptual separation of “SensorModels” and “LogicModels”. -* Extended enumerations (for example, traffic sign type according to StVO and vehicle type). +* Extended enumerations (e.g. traffic sign Type according to StVO, vehicle Type, etc.). * Improved messages and definitions (additional RoadConditions, country code in GT, AmbientIllumination, etc.). -* Introduced ISO 8855 coordinate systems (incompatible with earlier OSI versions). +* Use ISO 8855 coordinate systems (incompatible with earlier OSI versions). * Redefined DetectedXXX messages. * Introduced DetectedStationaryObjects. * Merged MovingObjects and Vehicle messages. * Redefined Lane messages (with separated lane boundary messages and intersections). * Redefined TrafficLight messages. -* Redefined TrafficSigns (1 x MainSign + n x SupplementarySign including BaseStationary). +* Redefined TrafficSigns (1 x MainSign + n x SupplementarySign inclusive BaseStationary). * New FeatureData messages (rework of previous LowLevelData message) - aligned with an upcoming standard ISO 23150. -* Made FeatureData usable for fusion units. -* Extended and clarified the existing doxygen documentation. +* FeatureData usable for fusion units. +* Extension and clarification of the existing doxygen documentation. * Improved doxygen collaboration diagrams. -* Improved Build process and added install targets. +* Build process improvements, added install targets. * Made proto definitions compatible with proto3 restrictions to allow concurrent use with proto3-only implementations in the future. * Fixed version-checking of transmitted data. -* AND MUCH MORE, SO PLEASE ENJOY!!! +* AND MUCH MORE ENJOY!!! -https://github.com/OpenSimulationInterface/open-simulation-interface/files/2297162/osi_overview_v2.2_vs_v3.0.pdf>[For more information, view the `changelog`] +https://github.com/OpenSimulationInterface/open-simulation-interface/files/2297162/osi_overview_v2.2_vs_v3.0.pdf>[See for more information the `changelog`] = https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.0.1[v3.0.1 - OSI "Cosmic Coulthard", Update 1] -https://www.youtube.com/watch?v=yG0oBPtyNb0[Summer time :)] +https://www.youtube.com/watch?v=yG0oBPtyNb0[Summertime :)] == Purpose -This release is a patch reworking parts of the documentation in order to avoid ambiguities and improve the OSI build/installation process. +This release is a patch reworking parts of the documentation in order to avoid ambiguities and improving the build/installation process of OSI. == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.1[Content/Changes] -* Added script to automatically convert the messages from proto2 to proto3 with on the wire compatibility. -* Made cmake enhancements to enable multi-version support for OSI 2 and OSI 3. -* Added Python 3 support. -* Clarified multiple comments. -* Added explanatory images in the documentation. -* Improved centerline definition. -* Corrected signal_strength definition in LidarSensorView. -* Clarified FeatureData::ambiguity_id definition. -* Clarified RadarSensorViewConfiguration::AntennaDiagram::response definition. +* Added script to automatically convert the messages from proto2 to proto3 with on the wire compatibility +* cmake enhancements to enable multi-version support of OSI 2 and OSI 3 +* Added Python 3 support +* Clarification of multiple comments +* Added explanatory images in the documentation +* centerline definition improved +* signal_strength definition in LidarSensorView corrected +* FeatureData::ambiguity_id definition clarified +* RadarSensorViewConfiguration::AntennaDiagram::response definition clarified diff --git a/doc/releases/v03.01.adoc b/doc/releases/v03.01.adoc index 414402b24..1835671b7 100644 --- a/doc/releases/v03.01.adoc +++ b/doc/releases/v03.01.adoc @@ -4,16 +4,16 @@ https://www.youtube.com/watch?v=fu3uA8K6ApQ>[(O SI)lent night] == Purpose -At this time of the year Santa goes on his rounds and has also given thought to this planet’s sensor modelers.”. -We have taken note of the current status of the ISO 23150 discussions, including ultrasonic and camera detections. +This time of the year Santa comes with presents and has also thought about the sensor modelers of this planet. +We introduce the current state of the ISO 23150 discussions including Ultrasonic and Camera Detections. The traffic signs have been reworked and the documentation has been extended for a perfect user experience. Trust me - it's amazing! == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.0>[Content/Changes] -* Completely reworked traffic signs including images in documentation. -* Added camera detections in osi_featuredata.proto. -* Added ultrasonic detections in osi_featuredata.proto. +* Complete rework of traffic signs including images in documentation. +* Added Camera Detections in osi_featuredata.proto. +* Added Ultrasonic Detections in osi_featuredata.proto. * Introduced light states for emergency and service vehicles. * Added orientation_acceleration and updated formulas. * Extended documentation with svg images. @@ -27,8 +27,8 @@ Trust me - it's amazing! == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.1.1[Content/Changes] -* **Bug Fix**: Changed open_simulation_interface target back from being a static library to its previous state as a shared library (this reverts an inadvertent change in v3.1.0 from previous releases). -v3.1.0 breaks all users of the shared library (that is, everyone building on Linux/Unix systems, and even some using the DLL on Windows). +* **Bug Fix**: Changed open_simulation_interface target back from being a static library to a shared library, as before (this reverts an inadvertent change in v3.1.0 from previous releases). +v3.1.0 breaks all users of the shared library (i.e. everyone building on Linux/Unix systems, and even some using the DLL on Windows). = https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.1.2[v3.1.2 - OSI "Dynamic Duncan", Update 2] diff --git a/doc/releases/v03.02.adoc b/doc/releases/v03.02.adoc index f4c7d64af..28fa51e97 100644 --- a/doc/releases/v03.02.adoc +++ b/doc/releases/v03.02.adoc @@ -4,36 +4,35 @@ https://www.youtube.com/watch?v=SJUhlRoBL8M[Think p(OSI)tive!] == Purpose -It was previously the case that the company BMW AG organized most of the work on the OSI project. -To make it possible for as many interested parties as possible to contribute to the success of the Open Simulation Interface, the project has been transferred to https://www.asam.net/[ASAM e.V.]. -This has been made public in the https://www.asam.net/news-media/news/detail/news/bmw-transfers-open-simulation-interface-osi-to-asam/[ASAM press release]. -A new chapter in the development of OSI has been opened with the https://www.asam.net/conferences-events/detail/asam-osi-kick-off-workshop/[kickoff workshop], which will hopefully generate lots of project proposals to streamline the efficient future development of the interface. -Whith this release, we therefore decided to focus on improving processes and documentation. +The work on the OSI project was until now mainly organized by the BMW AG. +In order to enable as many interested parties as possible to contribute to the success of the Open Simulation Interface the project has been transferred to the https://www.asam.net/[ASAM e.V.] which has been made public in the https://www.asam.net/news-media/news/detail/news/bmw-transfers-open-simulation-interface-osi-to-asam/[ASAM press release]. +A new chapter in the development of OSI is now opened with the https://www.asam.net/conferences-events/detail/asam-osi-kick-off-workshop/[kickoff workshop] leading to hopefully many project proposals streamlining the efficient future development of the interface. +Due to this we decided to focus on the improvement of processes and documentation with this release. == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?q=is%3Apr+is%3Aclosed+milestone%3Av3.2.0[Content/Changes] -* Updated README according to K(eep) I(t) S(imply) S(tupid) principle. -* Added Issue and Pullrequest templates. -* Updated Travis CI. -** Updated to bionic 18.04. -** Added tests for building protobuf 2.6 and 3.0 in parallel. -** Bugfixed the display of doubled documentation. -* Fixed several typos in the comments. -* Added a centralized documentation in https://github.com/OpenSimulationInterface/osi-documentation[OSI-Documentation]. -** Added contributors guidelines. -** Added commenting style guidelines. -** Added a uniform citation style based on APA. -** Updated installation guides for osi in Linux and Windows. -** Added a reference in sphinx based on generated doxygen documentation. -* Added rules to the comments to enforce osi message validation with the https://github.com/OpenSimulationInterface/osi-validation[OSI-Validator]. -* Added the rule definitions in the rules.yml. -* Modularized testing of commenting style into python unit tests. -* Defined a standardized file format for reading trace files (*.osi). -* Defined naming conventions for osi files. -* Added a *.txt to *.osi file converter for backward compatibility. -* Added a script to make traces readable for plausibility checks. -* Corrected the citing style for OSI Bibtex. -* Corrected unit specifications and references according to DIN (for example, removed Unit: []). -* Added a timestamp in osi_environment. -* Added is_out_of_service bool to traffic light / traffic sign. +* Updated README according to K(eep) I(t) S(imply) S(tupid) principle +* Added Issue and Pullrequest templates +* Travis CI updated +** Update to bionic 18.04 +** Added tests for building protobuf 2.6 and 3.0 in parallel +** Bugfixed the display of doubled documentation +* Fixed several typos in the comments +* Added a centralized documentation in https://github.com/OpenSimulationInterface/osi-documentation[OSI-Documentation] +** Added contributors guidelines +** Added commenting style guidelines +** Added uniform citation style according to APA +** Updated installation guides for osi in Linux and Windows +** Added a reference in sphinx based on the generated doxygen documentation +* Added rules to the comments in order to enforce osi message validation with the https://github.com/OpenSimulationInterface/osi-validation[OSI-Validator] +* Added the rule definitions in the rules.yml +* Modularized testing of commenting style into python unit tests +* Defined a standardazied a file format for reading trace files (*.osi) +* Defined naming conventions of osi files +* Added a *.txt to *.osi file converter for backward compatibility +* Added a script to make traces readable for plausibility checks +* Corrected the citing style for OSI Bibtex +* Corrected unit specifications and references according to DIN (e.g. removed Unit: []) +* Added timestamp in osi_environment +* Added is_out_of_service bool to traffic light / traffic sign diff --git a/doc/releases/v03.03.adoc b/doc/releases/v03.03.adoc index 35ad04c19..457c12e21 100644 --- a/doc/releases/v03.03.adoc +++ b/doc/releases/v03.03.adoc @@ -4,30 +4,30 @@ Stay p(OSI)tive! == Purpose -With the increasing adoption of OSI within the industry and its migration to ASAM as its home, several new use cases and extensions for OSI have been identified. -This minor release highlights the work that has been done on several working packages, including the introduction of brand new top-level messages which extend OSI's scope beyond the specialized world of sensor modeling. +As a part of the increasing adoption of OSI in the industry, and its movement to ASAM as its home, several new use cases and extensions for OSI have been identified. +This minor release highlights the work that has been done on several working packages including the introduction of brand new top level messages which extend OSI's scope beyond the specialized world of sensor modeling. == https://github.com/OpenSimulationInterface/open-simulation-interface/milestone/13?closed=1[Content/Changes] -* Introduced the TrafficCommand top-level message which enables event-based control of traffic participant models, for example, with regard to a scenario specification. -* Introduced the TrafficUpdate top-level message to send updated properties of traffic participant models. -* Added new LogicalDetectionData message to SensorData, which provides detection data with respect to the reference frame of the logical/virtual sensor. +* Introduced the TrafficCommand top-level message which enables event-based control of traffic participant models, e.g. with regard to a scenario specification. +* Introduced the TrafficUpdate top-level message to send updated properties of traffic participant models. +* Add new LogicalDetectionData message to SensorData, which provides detection data with respect to the reference frame of the logical/virtual sensor. * Added a new submessage to further specify wheel data. * Added a new field to support future trajectories of moving objects. -* Added a new subtype message to osi_lane to better align with OpenDrive's lane type information and enable traffic participant models to identify lanes in which they are supposed to move. -* Extended traffic lights and signs messages to include the model_references attribute that can be used to point to a 3D-model. -* Added global model reference to ground truth that can be used to specify the 3D model representing the environment. +* Added a new subtype message to osi_lane to better align with OpenDrive's lane type information and enable traffic participant models to identify lanes on which they are supposed to move. +* Extended traffic lights and signs messages to include the model_references attribute that can be used to point out to a 3D-model. +* Add global model reference to ground truth that can be used to specify the 3D model representing the environment. * Extended the camera sensor view configuration to better support the configuration of the simulation environment. * Added a new field to describe the position of the steering wheel. * Added a message MovingObjectClassification for classify-able attributes that are shared between different moving object types. Introduced the assigned lane id and the assigned lane percentage of a moving object there. -* Updated the checklist for pull requests to provide clearer guidance for all users. +* Updated to checklist for pull requests to provide clearer orientation for all users. * Updated the documentation of centerline and lane boundaries (ordering of the points, describing those lines). -* Updated the documentation for 3D bounding boxes. -* Updated the ground clearance documentation. +* Updated the documentation of 3D bounding boxes. +* Update the documentation of ground clearance. -* Made handling of enums in rules check more robust, especially ones. +* Make handling of enums in rules check more robust, especially ones. * Set the default compiler to C++ 11 to support protobuf>3.6. = https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v3.3.1[v3.3.1 - OSI "Fabulous Fangio", Update 1] diff --git a/doc/releases/versioning.adoc b/doc/releases/versioning.adoc index f8d347b48..bdaf96f13 100644 --- a/doc/releases/versioning.adoc +++ b/doc/releases/versioning.adoc @@ -1,23 +1,23 @@ -= Versioning and compatibility += Versioning and Compatibility The version number is defined in `InterfaceVersion::version_number` in `osi_version.proto` as the field's default value. OSI uses https://semver.org/[Semantic Versioning]. Major:: -A change in the major version makes the code and recorded proto messages incompatible. +A change of the major version results in an incompatibility of code and recorded proto messages. + Major changes include: + -* An existing field with a number changing its meaning. +* An existing field with a number changes its meaning. Example: `optional double field = 1;` changes to `repeated double field = 1;`. * Changing the definition of units or the interpretation of a field. * Deleting a field and reusing the field number. * Changing the technology from Protocol Buffers to FlatBuffers. Minor:: -A change in the minor version indicates there is still compatibility with previously recorded files. -However, the code needs fixing. +A change of the minor version indicates remaining compatibility to previously recorded files. +The code on the other hand needs fixing. + Minor changes include: + @@ -26,10 +26,10 @@ Minor changes include: * Adding a new field in a message without changing the numbering of other fields. Patch:: -Both recorded files and code still have compatibility. +The compatibility of both recorded files and code remains. + Patches include: + -* File or folder structure that does not affect integration of the code in other projects. +* File or folder structure which does not affect including the code in other projects. * Changing or adding comments. -* Clarifying text passages explaining the message content. +* Clarification of text passages explaining the message content. From 24e0337a6e1ed706bea4f6ed410dc58c650f065f Mon Sep 17 00:00:00 2001 From: Stefan Cyliax <stefan.cyliax@asam.net> Date: Fri, 10 Sep 2021 20:37:46 +0200 Subject: [PATCH 133/219] included native speaker review in versioning chapter MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/releases/versioning.adoc | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/doc/releases/versioning.adoc b/doc/releases/versioning.adoc index bdaf96f13..f8d347b48 100644 --- a/doc/releases/versioning.adoc +++ b/doc/releases/versioning.adoc @@ -1,23 +1,23 @@ -= Versioning and Compatibility += Versioning and compatibility The version number is defined in `InterfaceVersion::version_number` in `osi_version.proto` as the field's default value. OSI uses https://semver.org/[Semantic Versioning]. Major:: -A change of the major version results in an incompatibility of code and recorded proto messages. +A change in the major version makes the code and recorded proto messages incompatible. + Major changes include: + -* An existing field with a number changes its meaning. +* An existing field with a number changing its meaning. Example: `optional double field = 1;` changes to `repeated double field = 1;`. * Changing the definition of units or the interpretation of a field. * Deleting a field and reusing the field number. * Changing the technology from Protocol Buffers to FlatBuffers. Minor:: -A change of the minor version indicates remaining compatibility to previously recorded files. -The code on the other hand needs fixing. +A change in the minor version indicates there is still compatibility with previously recorded files. +However, the code needs fixing. + Minor changes include: + @@ -26,10 +26,10 @@ Minor changes include: * Adding a new field in a message without changing the numbering of other fields. Patch:: -The compatibility of both recorded files and code remains. +Both recorded files and code still have compatibility. + Patches include: + -* File or folder structure which does not affect including the code in other projects. +* File or folder structure that does not affect integration of the code in other projects. * Changing or adding comments. -* Clarification of text passages explaining the message content. +* Clarifying text passages explaining the message content. From 6d59951a5aab154f62b779319bdd18cd74f9193d Mon Sep 17 00:00:00 2001 From: Stefan Cyliax <stefan.cyliax@asam.net> Date: Thu, 16 Sep 2021 16:30:23 +0200 Subject: [PATCH 134/219] OpenSimulationInterface/osi-documentation#43 replace world with global for coordinate system MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .../reference_points_coordinate_systems.adoc | 6 +++--- doc/usecases/transforming_coordinate_systems.adoc | 10 +++++----- osi_object.proto | 2 +- 3 files changed, 9 insertions(+), 9 deletions(-) diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc index c3406d5b7..8e225041f 100644 --- a/doc/architecture/reference_points_coordinate_systems.adoc +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -3,12 +3,12 @@ OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between coordinate systems. OSI uses three coordinate systems: -World coordinate system:: +Global coordinate system:: Coordinate system for all entities that are part of ground truth. -The world coordinate system is an inertial x/y/z-coordinate system. +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. -World coordinates can be mapped to a geographic coordinate system via `osi3::GroundTruth::proj_string`. +Global coordinates can be mapped to a geographic coordinate system via `osi3::GroundTruth::proj_string`. Sensor coordinate system:: Coordinate system for all entities that are part of sensor data. diff --git a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc index 6935d8bef..ab69d80b5 100644 --- a/doc/usecases/transforming_coordinate_systems.adoc +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -2,21 +2,21 @@ == Vehicle and sensor coordinate systems -When running simulations, it is frequently necessary to transform coordinates from the world coordinate system for a specific vehicle and its sensors. +When running simulations, it is frequently necessary to transform coordinates from the global coordinate system for a specific vehicle and its sensors. This section provides an overview of the messages and fields involved and their relationship for this task. -It demonstrates how a world coordinate system, vehicle coordinate system, and sensor coordinate system are related on the basis of a specific (ego) vehicle. +It demonstrates how a global coordinate system, vehicle coordinate system, and sensor coordinate system are related on the basis of a specific (ego) vehicle. //TODO: Should we add one or more sentences about the mathematical operations involved? **Corresponding messages** ``GroundTruth::moving_object::base::position``:: -This field defines the position of the vehicle's reference point in world coordinates. +This field defines the position of the vehicle's reference point in global coordinates. In Open Simulation Interface, an object's position is defined by the coordinates of the center of the object's 3D bounding box. ``GroundTruth::moving_object::base::orientation``:: -This field defines the orientation of the vehicle's reference point in world coordinates. +This field defines the orientation of the vehicle's reference point in global coordinates. ``GroundTruth::moving_object::vehicle_attributes::bbcenter_to_rear``:: This field specifies the vector pointing from the vehicle's reference point to the middle of the rear axle under neutral load conditions in the vehicle coordinates. @@ -28,7 +28,7 @@ The mounting position is given in the vehicle coordinate system. **Example** The following image shows the relationship between the coordinate systems. -The reference point of the vehicle is given by a vector in the world coordinate system. +The reference point of the vehicle is given by a vector in the global coordinate system. A vector pointing from the reference position of the vehicle to the center of the rear axle then yields the origin of the vehicle coordinate system. The mounting positions of the sensors and therefore the origins of the corresponding sensor coordinate systems are given with respect to the vehicle coordinate system. diff --git a/osi_object.proto b/osi_object.proto index fb8a92536..216a3c884 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -513,7 +513,7 @@ message MovingObject // // This is an extension to the \c MovingObject with additional attributes, // such as type and lights. The origin of the rear (front) axis coordinate - // system in world coordinates is calculated as: + // system in global coordinates is calculated as: // \c MovingObject::base . \c BaseMoving::position + R * \c // MovingObject::VehicleAttributes::bbcenter_to_rear (front) for the host // vehicle (R rotates from vehicle to world frame, i.e. inverse orientation From 4c488f0f36e5339098464abbf2d1ade14295d49a Mon Sep 17 00:00:00 2001 From: Fabian Klopfer <fabian.klopfer@parson-europe.com> Date: Fri, 17 Sep 2021 12:31:15 +0200 Subject: [PATCH 135/219] Added bibliography entries. Relates to OpenSimulationInterface/osi-sensor-model-packing#add_bibliography_entries_osmp and OpenSimulationInterface/osi-documentation#36_add_bibliography MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Fabian Klopfer <fabian.klopfer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/data_layer.adoc | 2 +- doc/architecture/packaging_layer.adoc | 2 +- doc/architecture/reference_points_coordinate_systems.adoc | 2 +- doc/architecture/trace_file_naming.adoc | 2 +- doc/releases/v03.00.adoc | 6 +++--- doc/releases/v03.01.adoc | 2 +- 6 files changed, 8 insertions(+), 8 deletions(-) diff --git a/doc/architecture/data_layer.adoc b/doc/architecture/data_layer.adoc index 9e048334f..a0d4c6770 100644 --- a/doc/architecture/data_layer.adoc +++ b/doc/architecture/data_layer.adoc @@ -1,6 +1,6 @@ = Data layer -The OSI data layer is defined in the message specifications using the ProtoBuf IDL. +The OSI data layer is defined in the message specifications using the ProtoBuf IDL cite:[protobuf]. This defines the data that can be transmitted using OSI, including the structure and the semantics of the data. Additionally, it specifies the encoding to be used when OSI data is transmitted. diff --git a/doc/architecture/packaging_layer.adoc b/doc/architecture/packaging_layer.adoc index 3c6182a56..c8f62b2bd 100644 --- a/doc/architecture/packaging_layer.adoc +++ b/doc/architecture/packaging_layer.adoc @@ -10,4 +10,4 @@ This makes it possible to encapsulate model types in easily exchangeable compone Multiple packaging layer implementations are possible within the OSI framework. The shared data layer ensures easy bridging between the different implementations. The currently defined central packaging layer is the OSI Sensor Model Packaging (OSMP) specification. -It is based on FMI 2.0 and uses certain additional conventions to allow packaging of OSI using models as FMUs. \ No newline at end of file +It is based on FMI 2.0 cite:[fmi2.0] and uses certain additional conventions to allow packaging of OSI using models as FMUs. \ No newline at end of file diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc index 8e225041f..61b75af57 100644 --- a/doc/architecture/reference_points_coordinate_systems.adoc +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -1,6 +1,6 @@ = Coordinate systems and reference points -OSI uses DIN ISO 8855:2013-11 for coordinate systems and transformations between coordinate systems. +OSI uses DIN ISO 8855:2013-11 cite:[iso8855] for coordinate systems and transformations between coordinate systems. OSI uses three coordinate systems: Global coordinate system:: diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc index b2fbc8abc..a02a5a10f 100644 --- a/doc/architecture/trace_file_naming.adoc +++ b/doc/architecture/trace_file_naming.adoc @@ -33,7 +33,7 @@ Given an OSI trace file with the following information: [cols="1,1"] |=== -|Timestamp (ISO 8601) +|Timestamp (ISO 8601) cite:[iso8601] |20210818T150542Z |Type diff --git a/doc/releases/v03.00.adoc b/doc/releases/v03.00.adoc index 75c25a959..f76ea7b80 100644 --- a/doc/releases/v03.00.adoc +++ b/doc/releases/v03.00.adoc @@ -4,7 +4,7 @@ This release is a complete rework including the feedback from many OSI users. Thank you! -We are aligned with the ongoing discussions for the upcoming ISO 23150 standard for hardware sensor outputs in order to bring simulation and the hardware in the car closer together. +We are aligned with the ongoing discussions for the upcoming ISO 23150 cite:[iso23150] standard for hardware sensor outputs in order to bring simulation and the hardware in the car closer together. == https://github.com/OpenSimulationInterface/open-simulation-interface/pulls?page=1&q=is%3Apr+is%3Aclosed+milestone%3Av3.0.0[Content/Changes] @@ -18,14 +18,14 @@ We are aligned with the ongoing discussions for the upcoming ISO 23150 standard * Introduced conceptual separation of “SensorModels” and “LogicModels”. * Extended enumerations (e.g. traffic sign Type according to StVO, vehicle Type, etc.). * Improved messages and definitions (additional RoadConditions, country code in GT, AmbientIllumination, etc.). -* Use ISO 8855 coordinate systems (incompatible with earlier OSI versions). +* Use ISO 8855 cite:[iso8855] coordinate systems (incompatible with earlier OSI versions). * Redefined DetectedXXX messages. * Introduced DetectedStationaryObjects. * Merged MovingObjects and Vehicle messages. * Redefined Lane messages (with separated lane boundary messages and intersections). * Redefined TrafficLight messages. * Redefined TrafficSigns (1 x MainSign + n x SupplementarySign inclusive BaseStationary). -* New FeatureData messages (rework of previous LowLevelData message) - aligned with an upcoming standard ISO 23150. +* New FeatureData messages (rework of previous LowLevelData message) - aligned with an upcoming standard ISO 23150 cite:[iso23150]. * FeatureData usable for fusion units. * Extension and clarification of the existing doxygen documentation. * Improved doxygen collaboration diagrams. diff --git a/doc/releases/v03.01.adoc b/doc/releases/v03.01.adoc index 1835671b7..bc694ff99 100644 --- a/doc/releases/v03.01.adoc +++ b/doc/releases/v03.01.adoc @@ -5,7 +5,7 @@ https://www.youtube.com/watch?v=fu3uA8K6ApQ>[(O SI)lent night] == Purpose This time of the year Santa comes with presents and has also thought about the sensor modelers of this planet. -We introduce the current state of the ISO 23150 discussions including Ultrasonic and Camera Detections. +We introduce the current state of the ISO 23150 cite:[iso23150]] discussions including Ultrasonic and Camera Detections. The traffic signs have been reworked and the documentation has been extended for a perfect user experience. Trust me - it's amazing! 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<60253650+arnedueselder@users.noreply.github.com> Date: Fri, 17 Sep 2021 15:14:48 +0200 Subject: [PATCH 137/219] Update osi_lane.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit First update for surfacelines Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index 0224c68d7..aea0b31ab 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -238,23 +238,21 @@ message Lane // A vehicle must calculate this individually and depending on the // situation. // - repeated Vector3d centerline = 3; + repeated Vector3d surfaceline = 3; - // Definition of the intended driving direction. + // Definition of the placement of the newly introduced surfaceline in the center of the lane. // // Defined and used for driving lanes. - // \c true means driving direction is according to ascending storage - // order of center line points. \c false means driving direction is - // according to descending storage order of center line points. + // \c true means that the surface line is also the centerline of the lane4. // - // Example: \c #centerline_is_driving_direction = \c true for lane l4 - // and \c #centerline_is_driving_direction = \c false for lane l2 in + // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 + // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in // image \ref HighwayExit . // // \note The \c #centerline_is_driving_direction is defined for \c #type // = \c #TYPE_DRIVING . // - optional bool centerline_is_driving_direction = 4; + optional bool surfaceline_is_centerline = 4; // List of IDs of all lane segments that are directly adjacent to the // lane on the left side (w.r.t. ascending order of centerline points From 00f6191118c6c962c0d636f3d566997c60f34d19 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Sun, 19 Sep 2021 20:49:51 +0200 Subject: [PATCH 138/219] Adjusted surfaceline points MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Changes to reflect different number of points and increased accuracy in certain areas to model speedbumps etc. Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .../OSI_LaneBoundaries_And_SurfaceLines.svg | 234 ++++++------------ 1 file changed, 73 insertions(+), 161 deletions(-) diff --git a/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg b/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg index 8b83842ec..6224495a9 100644 --- a/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg +++ b/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg @@ -70,16 +70,16 @@ guidetolerance="10" inkscape:pageopacity="0" inkscape:pageshadow="2" - inkscape:window-width="1347" - inkscape:window-height="1081" + inkscape:window-width="1920" + 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- <text - style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:58.6667px;font-family:'Gill Sans MT';-inkscape-font-specification:'Gill Sans MT, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:start;writing-mode:lr-tb;text-anchor:start;overflow:hidden;fill:#ffffff;stroke:none;stroke-width:2" - id="text195-4-8-6" - font-size="24" - font-weight="400" - x="1108.6138" - y="172.28329">...</text> - </g> <g id="g1534" transform="translate(154.66675)"> @@ -1255,5 +1143,29 @@ style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:58.6667px;font-family:Calibri, Calibri_MSFontService, sans-serif;-inkscape-font-specification:'Calibri, Calibri_MSFontService, sans-serif, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;overflow:hidden;fill:#ffffff;fill-opacity:1;stroke:#b34d4d;stroke-width:2;stroke-opacity:1"><tspan sodipodi:role="line" id="tspan1522">sl 6</tspan></text> + <path + d="m 2540.8493,281.29246 c 0,-17.67467 14.3248,-32 31.9995,-32 17.6746,0 32,14.32533 32,32 0,17.67467 -14.3254,32.00001 -32,32.00001 -17.6747,0 -31.9995,-14.32534 -31.9995,-32.00001 z" + stroke-miterlimit="8" + id="path101-0-2-6-5-8-8-7-8" + inkscape:connector-curvature="0" + style="overflow:hidden;fill:#b34d4d;fill-rule:evenodd;stroke:#b34d4d;stroke-width:1.99999;stroke-miterlimit:8" /> + <path + d="m 2667.2192,283.89665 c 0,-17.67467 14.3248,-32 31.9995,-32 17.6746,0 32,14.32533 32,32 0,17.67467 -14.3254,32.00001 -32,32.00001 -17.6747,0 -31.9995,-14.32534 -31.9995,-32.00001 z" + stroke-miterlimit="8" + id="path101-0-2-6-5-8-8-1-1" + inkscape:connector-curvature="0" + style="overflow:hidden;fill:#b34d4d;fill-rule:evenodd;stroke:#b34d4d;stroke-width:1.99999;stroke-miterlimit:8" /> + <path + d="m 2790.451,283.17532 c 0,-17.67467 14.3248,-32 31.9995,-32 17.6746,0 32,14.32533 32,32 0,17.67467 -14.3254,32.00001 -32,32.00001 -17.6747,0 -31.9995,-14.32534 -31.9995,-32.00001 z" + stroke-miterlimit="8" + id="path101-0-2-6-5-8-8-8-8" + inkscape:connector-curvature="0" + style="overflow:hidden;fill:#b34d4d;fill-rule:evenodd;stroke:#b34d4d;stroke-width:1.99999;stroke-miterlimit:8" /> + <path + d="m 2415.7831,281.49521 c 0,-17.67467 14.3248,-32 31.9995,-32 17.6746,0 32,14.32533 32,32 0,17.67467 -14.3254,32.00001 -32,32.00001 -17.6747,0 -31.9995,-14.32534 -31.9995,-32.00001 z" + stroke-miterlimit="8" + id="path101-0-2-6-5-8-8-4" + inkscape:connector-curvature="0" + style="overflow:hidden;fill:#b34d4d;fill-rule:evenodd;stroke:#b34d4d;stroke-width:1.99999;stroke-miterlimit:8" /> </g> </svg> From 9ec4b23d62deaa3ffbded29e1be61640c6835371 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Thu, 16 Jul 2020 19:54:44 +0200 Subject: [PATCH 139/219] Add flag to filter static content from sensorview MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_sensorviewconfiguration.proto | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 3df348a54..91f17c591 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -190,6 +190,13 @@ message SensorViewConfiguration // Unit: s optional Timestamp simulation_start_time = 10; + // Omit Static Information + // + // This flag specifies whether ground truth information can + // omit static information or not. + // + optional bool omit_static_information = 11; + // Generic Sensor View Configuration(s). // // \note OSI uses singular instead of plural for repeated field names. From 5934e45cec0a111f7ffc40a5faa00ca2026815b5 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Mon, 20 Sep 2021 17:55:31 +0200 Subject: [PATCH 140/219] Adjust static flag description to be more precise MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_sensorviewconfiguration.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 91f17c591..5af4a7a91 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -192,8 +192,10 @@ message SensorViewConfiguration // Omit Static Information // - // This flag specifies whether ground truth information can - // omit static information or not. + // This flag specifies whether \c GroundTruth information that + // was already provided using a GroundTruthInit parameter + // at initialization time shall be omitted from the \c SensorView + // ground truth information. // optional bool omit_static_information = 11; From 7e83d6e99a39430f65a7584bb82ed60d776d5597 Mon Sep 17 00:00:00 2001 From: "Rosenberger, Philipp" <rosenberger@fzd.tu-darmstadt.de> Date: Wed, 27 Jan 2021 21:54:55 +0100 Subject: [PATCH 141/219] echo_pulse_width added in osi_featuredata.proto for message LidarDetection. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Rosenberger, Philipp <rosenberger@fzd.tu-darmstadt.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_featuredata.proto | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 328030657..6e98f370e 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -449,6 +449,16 @@ message LidarDetection // Lambertian reflectivity. // optional double reflectivity = 10; + + // Echo pulse width of the detection's echo. + // + // Unit: m + // + // \rules + // is_greater_than_or_equal_to: 0 + // \endrules + // + optional double echo_pulse_width = 11; } // From 7669564f7b06f71c1f4a227648238230cf1d046a Mon Sep 17 00:00:00 2001 From: "Rosenberger, Philipp" <philipp.rosenberger@tu-darmstadt.de> Date: Mon, 10 May 2021 14:51:05 +0200 Subject: [PATCH 142/219] Explanation and reference with figures added. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Rosenberger, Philipp <philipp.rosenberger@tu-darmstadt.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_featuredata.proto | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 6e98f370e..e8f5696b2 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -451,6 +451,10 @@ message LidarDetection optional double reflectivity = 10; // Echo pulse width of the detection's echo. + // Several sensors output an echo-pulse width instead of an intensity for each single detection. + // It is measured in m and measures the extend of the object parts or atmospheric particles that produce the echo. + // As an example, it is depicted for the two echos reflected from the edges A-B and C-D in Fig. 7 from [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). + // Fig. 8 [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf) shows it in more detail, as the echo-pulse width is measured as the range between the rising and falling edge crossing the intensity threshold. // // Unit: m // From 183f41b871197ca8fa0e6285380c73be410d5d34 Mon Sep 17 00:00:00 2001 From: Stefan Cyliax <stefan.cyliax@asam.net> Date: Thu, 16 Sep 2021 16:49:48 +0200 Subject: [PATCH 143/219] Fixed indentation that used tabs instead of spaces MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_featuredata.proto | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index e8f5696b2..034e08c4f 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -451,10 +451,10 @@ message LidarDetection optional double reflectivity = 10; // Echo pulse width of the detection's echo. - // Several sensors output an echo-pulse width instead of an intensity for each single detection. - // It is measured in m and measures the extend of the object parts or atmospheric particles that produce the echo. - // As an example, it is depicted for the two echos reflected from the edges A-B and C-D in Fig. 7 from [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). - // Fig. 8 [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf) shows it in more detail, as the echo-pulse width is measured as the range between the rising and falling edge crossing the intensity threshold. + // Several sensors output an echo-pulse width instead of an intensity for each single detection. + // It is measured in m and measures the extend of the object parts or atmospheric particles that produce the echo. + // As an example, it is depicted for the two echos reflected from the edges A-B and C-D in Fig. 7 from [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). + // Fig. 8 [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf) shows it in more detail, as the echo-pulse width is measured as the range between the rising and falling edge crossing the intensity threshold. // // Unit: m // From cb582ae41c927f8473418cf85f24d90b47b17df7 Mon Sep 17 00:00:00 2001 From: Fabian Klopfer <fabian.klopfer@parson-europe.com> Date: Fri, 17 Sep 2021 09:57:48 +0200 Subject: [PATCH 144/219] Linguistic review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_featuredata.proto | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 034e08c4f..74d036308 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -451,10 +451,10 @@ message LidarDetection optional double reflectivity = 10; // Echo pulse width of the detection's echo. - // Several sensors output an echo-pulse width instead of an intensity for each single detection. - // It is measured in m and measures the extend of the object parts or atmospheric particles that produce the echo. - // As an example, it is depicted for the two echos reflected from the edges A-B and C-D in Fig. 7 from [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). - // Fig. 8 [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf) shows it in more detail, as the echo-pulse width is measured as the range between the rising and falling edge crossing the intensity threshold. + // Several sensors output an echo pulse width instead of an intensity for each individual detection. + // The echo pulse is measured in m and measures the extent of the object parts or atmospheric particles that produce the echo. + // Fig. 7 shows an example where the two echos are reflected from the edges A-B and C-D. For more details, see [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). + // Fig. 8 shows how the echo pulse width is measured as the range between the rising edge and the falling edge that crosses the intensity threshold. For more details, see [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). // // Unit: m // From 852e9a1707900988f46a8902a72a4bd6f8b34fae Mon Sep 17 00:00:00 2001 From: Stefan Cyliax <stefan.cyliax@asam.net> Date: Wed, 13 Oct 2021 15:38:37 +0200 Subject: [PATCH 145/219] correct citation for external source MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_featuredata.proto | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 74d036308..27d7bcbf9 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -453,8 +453,9 @@ message LidarDetection // Echo pulse width of the detection's echo. // Several sensors output an echo pulse width instead of an intensity for each individual detection. // The echo pulse is measured in m and measures the extent of the object parts or atmospheric particles that produce the echo. - // Fig. 7 shows an example where the two echos are reflected from the edges A-B and C-D. For more details, see [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). - // Fig. 8 shows how the echo pulse width is measured as the range between the rising edge and the falling edge that crosses the intensity threshold. For more details, see [Rosenberger et al.](https://link.springer.com/content/pdf/10.1007/s41104-020-00066-x.pdf). + // \note For more details see [1] Fig. 7 and 8. + // \note Fig. 7 shows an example where the two echos are reflected from the edges A-B and C-D. + // \note Fig. 8 shows how the echo pulse width is measured as the range between the rising edge and the falling edge that crosses the intensity threshold. // // Unit: m // @@ -462,6 +463,9 @@ message LidarDetection // is_greater_than_or_equal_to: 0 // \endrules // + // \par Reference: + // [1] Rosenberger, P., Holder, M.F., Cianciaruso, N. et al. (2020). <em>Sequential lidar sensor system simulation: a modular approach for simulation-based safety validation of automated driving</em> Automot. Engine Technol. 5, Fig 7, Fig 8. Retrieved May 10, 2021, from https://doi.org/10.1007/s41104-020-00066-x + // optional double echo_pulse_width = 11; } From 2310498cdfb8d2697a2ff655692adf390ee199dd Mon Sep 17 00:00:00 2001 From: Nader Thomas <thomas.nader@bmw.de> Date: Wed, 30 Jun 2021 17:51:23 +0200 Subject: [PATCH 146/219] New Branch and update of the necessary changes from PR "Extension of the hostVehicleData #441" (before it broke down). MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Nader Thomas <thomas.nader@bmw.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 54 ++++++++ osi_hostvehicledata.proto | 262 +++++++++++++++++++++++++++++++++++++- 2 files changed, 310 insertions(+), 6 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index 01fb932f2..bef02da8e 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -804,3 +804,57 @@ message ColorCMYK // optional double key = 4; } + +// +// \brief A description for the positions of the pedals. +// +message Pedalry +{ + // Position of the acceleration-pedal. + // Range: 0-1 (Unpressed - fully pressed) + // + optional double pedal_position_acceleration = 1; + + // Position of the brake-pedal. + // Range: 0-1 (Unpressed - fully pressed) + // + optional double pedal_position_brake = 2; + + // Position of the clutch-pedal. + // Range: 0-1 (Unpressed - fully pressed) + // + optional double pedal_position_clutch = 3; +} + +// +// A description of the steering wheel. +// +message VehicleSteeringWheel +{ + // Angle of the steering wheel. + // Zero means the steering wheel is in its center position, a positive value + // means the steering wheel is turned to the left and a negative value + // means the steering wheel is turned to the right of the center position. + // + // Unit: rad + // + optional double angle = 1; + + // Angular speed of the steering wheel. + // Zero means the steering wheel stays in its position, a positive value + // means the steering wheel is turned to the left and a negative value + // means the steering wheel is turned to the right. + // + // Unit: rad/s + // + optional double angular_speed = 2; + + // Torque of the steering wheel to the hand. + // Zero means there is no force from the steering wheel to the driver`s hands. + // A positive value means the steering wheel would turn to the left without driver`s forces + // and a negative value means the steering wheel would turn to the right without driver`s forces. + // + // Unit: N*m + // + optional double torque = 3; +} diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index 711f7fcc6..65ea40bf6 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -2,31 +2,281 @@ syntax = "proto2"; option optimize_for = SPEED; +import "osi_version.proto"; import "osi_common.proto"; package osi3; +// \brief Host vehicle data is about the perception of the vehicle about it's own, internal states. +// It can be understood as an interface container for restbussimulation signals. +// If there is a duplication with values from the rest of SensorView or SensorData, than these shall be taken. // -// \brief Interface for host vehicle data that is available to sensors and -// other functions due to host vehicle's internal communication. +// It consists of different messages categorizing the vehicle in: +// Vehicle-Basics, Vehicle-Powertrain, Vehicle-SteeringWheel, Vehicle-Wheels, Vehicle-Localization. // // \image html OSI_HostVehicle.svg // -// All coordinates and orientations are relative to the global ground truth -// coordinate system. -// message HostVehicleData { + // The interface version used by the sender. + // + optional InterfaceVersion version = 10; + + // The timestamp of the host vehicle data. Zero time is arbitrary but must be + // identical for all messages. Zero time does not need to coincide with + // the unix epoch. Recommended is the starting time point of the + // simulation or measurement. + // + // \note This is the point in time that the host vehicle data message becomes + // available as snapshot from the board net information. + // + optional Timestamp timestamp = 11; + + // Deprecated: Will be removed in next major release. Moved to VehiclePositionAndKinematics. // Current estimated location based on GPS- and related navigation sensors. // // \note Note that dimension and base_polygon need not be set. // optional BaseMoving location = 1; - // Current estimated location error based on GPS- and related navigation + // Deprecated: Will be removed in next major release. Moved to VehiclePositionAndKinematics. + // Current estimated location error based on GPS- and related navigation // sensors. // // \note Note that dimension and base_polygon need not be set. // optional BaseMoving location_rmse = 2; + + // The basic parameters of the vehicle. + // + optional VehicleBasics vehicle_basics = 3; + + // Interface regarding the powertrain. + // + optional VehiclePowertrain vehicle_powertrain = 4; + + // Interface regarding the steering wheel. + // + optional VehicleSteeringWheel vehicle_steering_wheel = 5; + + // Interface regarding the wheels. + // + optional VehicleWheels vehicle_wheels = 6; + + // Interface regarding the localization. + // + optional VehiclePositionAndKinematics vehicle_position_and_kinematics = 7; + + // + // \brief The absolute base parameters of the vehicle. + // + message VehicleBasics + { + // The total mass of the vehicle (curb weight). + // + // Unit: kg + // + // \par Reference: + // Paragraph 42 of the German Road Traffic Admission Regulations (StVZO). + // + optional double curb_weight = 1; + } + + // + // \brief State description of the powertrain. + // + message VehiclePowertrain + { + // The positions of the pedals. + // + optional Pedalry pedalry = 1; + + // The actual gear of the transmission. + // E.g. a gear lever can be in "D" and transmission in "4", but not the + // other way around. + // + // The sign of this field is linked to the gear's mode as following: + // - zero: neutral position + // - positive: driving forward mode + // - negative: reverse mode (generally -1, but few vehicles have several + // reverse mode gears) + // + optional int32 gear_transmission = 2; + + // Information about the motor(s). + // + repeated Motor motor = 3; + + // + // \brief A description for the positions of the pedals. + // + message Motor + { + // The type of the motor. + // + optional Type type = 1; + + // Rounds per minute of the engine. RPM can be from E-Motor/ Engine. + // + // Unit: 1/min + // + optional double rpm = 2; + + // Torque in Nm. It can either be from Engine/E-Motor or combined Torque values. + // + // Unit: N*m + // + optional double torque = 3; + + // Definition which type of motor is used. + // + enum Type + { + // The powertrain mode is unknown. + // + TYPE_UNKNOWN = 0; + + // It is another powertrain mode. + // + TYPE_OTHER = 1; + + // A motor working after the principle of Nicolaus Otto. + // + TYPE_OTTO = 2; + + // A motor working after the principle of Rudolf Diesel. + // + TYPE_DIESEL = 3; + + // A motor working electric. + // + TYPE_ELECTRIC = 4; + } + } + } + + // + // \brief The focus here is on the description of the wheels. + // + message VehicleWheels + { + // Description of each wheel. + // + // \note OSI uses singular instead of plural for repeated field names. + // + repeated WheelData wheel_data = 1; + + // + // \brief The focus here is on the description of a wheel. + // + message WheelData + { + // The axle which contains this wheel. A value of 0 represents the + // front-most axle of the vehicle with higher numbers incrementing + // towards the rear-most axle. + // + optional uint32 axle = 1; + + // The index of the wheel on the axle, counting in the direction + // of positive-y, that is, right-to-left. + // + // For example, on a standard 2-axle, 4-wheel car, the rear-right + // wheel would be (axle=1, index=0). + // This concept works also for twin tires. + // + optional uint32 index = 2; + + // Rotation rate of the wheel based on the processed output of the hall sensor measurements at the wheel. + // The rotation rate around the y-axis with respect to the wheel's coordinate system. + // + // Unit: rad/s. + // + // The sign convention is defined using the right-hand rule. + // It is applied on the y-axis of the vehicle's reference system (center of bounding box). + // Counterclockwise is positive and clockwise is negative. + // + // \image html OSI_RotationRate.svg + // \note The vehicle's reference coordinate system is only used to determine the sign convention of the rotation rate. + // + optional double rotation_rate = 3; + + // Contains the longitudinal, measured slip of the tire. + // \par References: + // - https://www.kfz-tech.de/Biblio/Formelsammlung/Schlupf.htm + // + // Unit: % + // + // The sign convention is defined using the right-hand rule. + // It is applied on the y-axis of the vehicle's reference system (center of bounding box). + // Counterclockwise is positive and clockwise is negative. + // + optional double slip = 4; + } + } + + // + // \brief Current calculated and estimated location that can be based on GNSS- and related navigation sensors, + // but this message does not contain the single sensor values of the sensorics. + // + // This message contains the most accurate information the vehicle knows about its positioning and kinematics + // available on the board net. + // Because of this the values can differ from the "true" values calculated out of + // GroundTruth::proj_string, GroundTruth::MovingObject::BaseMoving::position, GroundTruth::host_vehicle_id. + // + message VehiclePositionAndKinematics + { + // Geodetic origin of the ENU (east-north-up) cartesian coordinate system regarding WGS84. + // + optional GeodeticPosition enu_origin = 1; + + // The host vehicle location and kinematics at \c HostVehicleData::timestamp. + // + // \note If \c HostVehicleData::enu_origin is specified, then the \c BaseMoving parent frame used by + // \c HostVehicleData::location is the ENU frame according to ISO8855 with the geodetic origin of + // \c HostVehicleData::enu_origin. Otherwise \c BaseMoving parent frame is an arbitrary cartesian coordinate system + // with its axis conventions following ISO8855. + // + // \note Note that dimension and base_polygon need not be set. + // + optional BaseMoving base = 2; + + // The host vehicle location and kinematics root-mean-square errors at \c HostVehicleData::timestamp. + // + // \note If \c HostVehicleData::enu_origin is specified, then the \c BaseMoving parent frame used by + // \c HostVehicleData::location is the ENU frame according to ISO8855 with the geodetic origin of + // \c HostVehicleData::enu_origin. Otherwise \c BaseMoving parent frame is an arbitrary cartesian coordinate system + // with its axis conventions following ISO8855. + // + // \note Note that dimension and base_polygon need not be set. + // + optional BaseMoving base_rmse = 3; + + // + // \brief The geodetic position of the vehicle. + // In which context it is used has to be specified in the concrete field. + // + message GeodeticPosition + { + // Longitude in decimal degrees regarding WGS84. + // + // Unit: Degree + // Range: [-180; 180] + // + optional double longitude = 1; + + // Latitude in decimal degrees regarding WGS84. + // + // Unit: Degree + // Range: [-90; 90] + // + optional double latitude = 2; + + // Height above sea level regarding EGM96. + // + // Unit: m + // Range: [-300; 10000] + // + optional double altitude = 3; + } + } } From d1dd58562d099806f4beb9712e6badff72a0398c Mon Sep 17 00:00:00 2001 From: Nader Thomas <thomas.nader@bmw.de> Date: Wed, 30 Jun 2021 18:15:59 +0200 Subject: [PATCH 147/219] Updated motor descriptions. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Nader Thomas <thomas.nader@bmw.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 82 +++++++++++++++++++-------------------- osi_hostvehicledata.proto | 10 ++--- 2 files changed, 46 insertions(+), 46 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index bef02da8e..88978fc47 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -810,51 +810,51 @@ message ColorCMYK // message Pedalry { - // Position of the acceleration-pedal. - // Range: 0-1 (Unpressed - fully pressed) - // - optional double pedal_position_acceleration = 1; - - // Position of the brake-pedal. - // Range: 0-1 (Unpressed - fully pressed) - // - optional double pedal_position_brake = 2; - - // Position of the clutch-pedal. - // Range: 0-1 (Unpressed - fully pressed) - // - optional double pedal_position_clutch = 3; + // Position of the acceleration-pedal. + // Range: 0-1 (Unpressed - fully pressed) + // + optional double pedal_position_acceleration = 1; + + // Position of the brake-pedal. + // Range: 0-1 (Unpressed - fully pressed) + // + optional double pedal_position_brake = 2; + + // Position of the clutch-pedal. + // Range: 0-1 (Unpressed - fully pressed) + // + optional double pedal_position_clutch = 3; } // -// A description of the steering wheel. +// \brief A description of the steering wheel. // message VehicleSteeringWheel { - // Angle of the steering wheel. - // Zero means the steering wheel is in its center position, a positive value - // means the steering wheel is turned to the left and a negative value - // means the steering wheel is turned to the right of the center position. - // - // Unit: rad - // - optional double angle = 1; - - // Angular speed of the steering wheel. - // Zero means the steering wheel stays in its position, a positive value - // means the steering wheel is turned to the left and a negative value - // means the steering wheel is turned to the right. - // - // Unit: rad/s - // - optional double angular_speed = 2; - - // Torque of the steering wheel to the hand. - // Zero means there is no force from the steering wheel to the driver`s hands. - // A positive value means the steering wheel would turn to the left without driver`s forces - // and a negative value means the steering wheel would turn to the right without driver`s forces. - // - // Unit: N*m - // - optional double torque = 3; + // Angle of the steering wheel. + // Zero means the steering wheel is in its center position, a positive value + // means the steering wheel is turned to the left and a negative value + // means the steering wheel is turned to the right of the center position. + // + // Unit: rad + // + optional double angle = 1; + + // Angular speed of the steering wheel. + // Zero means the steering wheel stays in its position, a positive value + // means the steering wheel is turned to the left and a negative value + // means the steering wheel is turned to the right. + // + // Unit: rad/s + // + optional double angular_speed = 2; + + // Torque of the steering wheel to the hand. + // Zero means there is no force from the steering wheel to the driver`s hands. + // A positive value means the steering wheel would turn to the left without driver`s forces + // and a negative value means the steering wheel would turn to the right without driver`s forces. + // + // Unit: N*m + // + optional double torque = 3; } diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index 65ea40bf6..1673276c5 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -108,7 +108,7 @@ message HostVehicleData repeated Motor motor = 3; // - // \brief A description for the positions of the pedals. + // \brief A description of the motor states. // message Motor { @@ -116,13 +116,13 @@ message HostVehicleData // optional Type type = 1; - // Rounds per minute of the engine. RPM can be from E-Motor/ Engine. + // Rounds per minute of the motor. // // Unit: 1/min // optional double rpm = 2; - // Torque in Nm. It can either be from Engine/E-Motor or combined Torque values. + // Torque from the motor. // // Unit: N*m // @@ -132,11 +132,11 @@ message HostVehicleData // enum Type { - // The powertrain mode is unknown. + // The motor type is unknown. // TYPE_UNKNOWN = 0; - // It is another powertrain mode. + // It is another motor type. // TYPE_OTHER = 1; From a6d3fb945cd35d4fd3795c74460adf3ab43b6943 Mon Sep 17 00:00:00 2001 From: Thomas Nader <thomas.nader@bmw.de> Date: Wed, 21 Jul 2021 12:59:38 +0200 Subject: [PATCH 148/219] Updated VehicleLocalization after CCB MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: spider <Thomas.Nader@bmw.de> Signed-off-by: Thomas Nader <Thomas.Nader@bmw.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_hostvehicledata.proto | 65 ++++++++------------------------------- 1 file changed, 13 insertions(+), 52 deletions(-) diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index 1673276c5..2c3dcadd2 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -65,7 +65,7 @@ message HostVehicleData // Interface regarding the localization. // - optional VehiclePositionAndKinematics vehicle_position_and_kinematics = 7; + optional VehicleLocalization vehicle_localization = 7; // // \brief The absolute base parameters of the vehicle. @@ -218,65 +218,26 @@ message HostVehicleData // \brief Current calculated and estimated location that can be based on GNSS- and related navigation sensors, // but this message does not contain the single sensor values of the sensorics. // - // This message contains the most accurate information the vehicle knows about its positioning and kinematics + // This message contains the most accurate information the vehicle knows about its positioning // available on the board net. // Because of this the values can differ from the "true" values calculated out of // GroundTruth::proj_string, GroundTruth::MovingObject::BaseMoving::position, GroundTruth::host_vehicle_id. // - message VehiclePositionAndKinematics + message VehicleLocalization { - // Geodetic origin of the ENU (east-north-up) cartesian coordinate system regarding WGS84. + // Most accurate position information of the vehicle available on the board net. + // The reference point for position, i.e. the center (x,y,z) of the bounding box + // in context to the global coordinate system. // - optional GeodeticPosition enu_origin = 1; + optional Vector3d position = 1; - // The host vehicle location and kinematics at \c HostVehicleData::timestamp. + // Most accurate orientation information of the vehicle available on the board net + // in context to the global coordinate system. // - // \note If \c HostVehicleData::enu_origin is specified, then the \c BaseMoving parent frame used by - // \c HostVehicleData::location is the ENU frame according to ISO8855 with the geodetic origin of - // \c HostVehicleData::enu_origin. Otherwise \c BaseMoving parent frame is an arbitrary cartesian coordinate system - // with its axis conventions following ISO8855. + optional Orientation3d orientation = 2; + + // Most accurate geodetic information of the vehicle available on the board net. // - // \note Note that dimension and base_polygon need not be set. - // - optional BaseMoving base = 2; - - // The host vehicle location and kinematics root-mean-square errors at \c HostVehicleData::timestamp. - // - // \note If \c HostVehicleData::enu_origin is specified, then the \c BaseMoving parent frame used by - // \c HostVehicleData::location is the ENU frame according to ISO8855 with the geodetic origin of - // \c HostVehicleData::enu_origin. Otherwise \c BaseMoving parent frame is an arbitrary cartesian coordinate system - // with its axis conventions following ISO8855. - // - // \note Note that dimension and base_polygon need not be set. - // - optional BaseMoving base_rmse = 3; - - // - // \brief The geodetic position of the vehicle. - // In which context it is used has to be specified in the concrete field. - // - message GeodeticPosition - { - // Longitude in decimal degrees regarding WGS84. - // - // Unit: Degree - // Range: [-180; 180] - // - optional double longitude = 1; - - // Latitude in decimal degrees regarding WGS84. - // - // Unit: Degree - // Range: [-90; 90] - // - optional double latitude = 2; - - // Height above sea level regarding EGM96. - // - // Unit: m - // Range: [-300; 10000] - // - optional double altitude = 3; - } + optional GeodeticPosition geodetic_position = 3; } } From 9231a32bd983f81f3be2054d7e78a0c5f35989de Mon Sep 17 00:00:00 2001 From: Thomas Nader <thomas.nader@bmw.de> Date: Wed, 21 Jul 2021 13:02:34 +0200 Subject: [PATCH 149/219] Added geodetic position MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: spider <Thomas.Nader@bmw.de> Signed-off-by: Thomas Nader <Thomas.Nader@bmw.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/osi_common.proto b/osi_common.proto index 88978fc47..adab8a6f6 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -858,3 +858,30 @@ message VehicleSteeringWheel // optional double torque = 3; } + +// +// \brief The geodetic position of an object, i.e. center of the bounding box. +// +message GeodeticPosition +{ + // Longitude in decimal degrees regarding WGS84. + // + // Unit: Degree + // Range: [-180; 180] + // + optional double longitude = 1; + + // Latitude in decimal degrees regarding WGS84. + // + // Unit: Degree + // Range: [-90; 90] + // + optional double latitude = 2; + + // Height above sea level regarding EGM96. + // + // Unit: m + // Range: [-300; 10000] + // + optional double altitude = 3; +} From bd1794d3cee4a9dff74ada58da425720224a58c2 Mon Sep 17 00:00:00 2001 From: Fabian Klopfer <fabian.klopfer@parson-europe.com> Date: Thu, 16 Sep 2021 16:27:15 +0200 Subject: [PATCH 150/219] Linguistic review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 32 ++++++++++++++--------------- osi_hostvehicledata.proto | 42 +++++++++++++++++++-------------------- 2 files changed, 37 insertions(+), 37 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index adab8a6f6..58685962c 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -15,19 +15,19 @@ package osi3; // message Vector3d { - // The x coordinate. + // The x-coordinate. // // Unit: m, m/s, or m/s^2 // optional double x = 1; - // The y coordinate. + // The y-coordinate. // // Unit: m, m/s, or m/s^2 // optional double y = 2; - // The z coordinate. + // The z-coordinate. // // Unit: m, m/s, or m/s^2 // @@ -43,13 +43,13 @@ message Vector3d // message Vector2d { - // The x coordinate. + // The x-coordinate. // // Unit: m, m/s, or m/s^2 // optional double x = 1; - // The y coordinate. + // The y-coordinate. // // Unit: m, m/s, or m/s^2 // @@ -810,17 +810,17 @@ message ColorCMYK // message Pedalry { - // Position of the acceleration-pedal. + // Position of the acceleration pedal. // Range: 0-1 (Unpressed - fully pressed) // optional double pedal_position_acceleration = 1; - // Position of the brake-pedal. + // Position of the brake pedal. // Range: 0-1 (Unpressed - fully pressed) // optional double pedal_position_brake = 2; - // Position of the clutch-pedal. + // Position of the clutch pedal. // Range: 0-1 (Unpressed - fully pressed) // optional double pedal_position_clutch = 3; @@ -832,8 +832,8 @@ message Pedalry message VehicleSteeringWheel { // Angle of the steering wheel. - // Zero means the steering wheel is in its center position, a positive value - // means the steering wheel is turned to the left and a negative value + // Zero means the steering wheel is in its center position. A positive value + // means the steering wheel is turned to the left. A negative value // means the steering wheel is turned to the right of the center position. // // Unit: rad @@ -841,8 +841,8 @@ message VehicleSteeringWheel optional double angle = 1; // Angular speed of the steering wheel. - // Zero means the steering wheel stays in its position, a positive value - // means the steering wheel is turned to the left and a negative value + // Zero means the steering wheel stays in its position. A positive value + // means the steering wheel is turned to the left. A negative value // means the steering wheel is turned to the right. // // Unit: rad/s @@ -850,9 +850,9 @@ message VehicleSteeringWheel optional double angular_speed = 2; // Torque of the steering wheel to the hand. - // Zero means there is no force from the steering wheel to the driver`s hands. - // A positive value means the steering wheel would turn to the left without driver`s forces - // and a negative value means the steering wheel would turn to the right without driver`s forces. + // Zero means there is no force from the steering wheel to the hand of the driver. + // A positive value means that the steering wheel would turn to the left without driver intervention. + // A negative value means that the steering wheel would turn to the right without driver intervention. // // Unit: N*m // @@ -860,7 +860,7 @@ message VehicleSteeringWheel } // -// \brief The geodetic position of an object, i.e. center of the bounding box. +// \brief The geodetic position of an object, that is, the center of the 3D bounding box. // message GeodeticPosition { diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index 2c3dcadd2..f1fee329e 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -7,7 +7,7 @@ import "osi_common.proto"; package osi3; -// \brief Host vehicle data is about the perception of the vehicle about it's own, internal states. +// \brief Host vehicle data is about the perception of the vehicle about its own internal states. // It can be understood as an interface container for restbussimulation signals. // If there is a duplication with values from the rest of SensorView or SensorData, than these shall be taken. // @@ -40,7 +40,7 @@ message HostVehicleData optional BaseMoving location = 1; // Deprecated: Will be removed in next major release. Moved to VehiclePositionAndKinematics. - // Current estimated location error based on GPS- and related navigation + // Current estimated location error based on GPS and related navigation // sensors. // // \note Note that dimension and base_polygon need not be set. @@ -92,13 +92,13 @@ message HostVehicleData optional Pedalry pedalry = 1; // The actual gear of the transmission. - // E.g. a gear lever can be in "D" and transmission in "4", but not the + // For example, a gear lever can be on "D" and the transmission on "4", but not the // other way around. // // The sign of this field is linked to the gear's mode as following: // - zero: neutral position // - positive: driving forward mode - // - negative: reverse mode (generally -1, but few vehicles have several + // - negative: reverse mode (generally -1, but few vehicles have more than 1 // reverse mode gears) // optional int32 gear_transmission = 2; @@ -116,13 +116,13 @@ message HostVehicleData // optional Type type = 1; - // Rounds per minute of the motor. + // Revolutions per minute of the motor. // // Unit: 1/min // optional double rpm = 2; - // Torque from the motor. + // Torque of the motor. // // Unit: N*m // @@ -172,17 +172,17 @@ message HostVehicleData message WheelData { // The axle which contains this wheel. A value of 0 represents the - // front-most axle of the vehicle with higher numbers incrementing - // towards the rear-most axle. + // foremost axle of the vehicle, with higher numbers ascending + // towards the rearmost axle. // optional uint32 axle = 1; - // The index of the wheel on the axle, counting in the direction - // of positive-y, that is, right-to-left. + // The index of the wheel on the axle, counted in positive y- direction, + // that is, right-to-left. // // For example, on a standard 2-axle, 4-wheel car, the rear-right // wheel would be (axle=1, index=0). - // This concept works also for twin tires. + // This concept also works for twin tires. // optional uint32 index = 2; @@ -192,7 +192,7 @@ message HostVehicleData // Unit: rad/s. // // The sign convention is defined using the right-hand rule. - // It is applied on the y-axis of the vehicle's reference system (center of bounding box). + // It is applied on the y-axis of the vehicle's reference system, that is, the center of bounding box. // Counterclockwise is positive and clockwise is negative. // // \image html OSI_RotationRate.svg @@ -207,7 +207,7 @@ message HostVehicleData // Unit: % // // The sign convention is defined using the right-hand rule. - // It is applied on the y-axis of the vehicle's reference system (center of bounding box). + // It is applied on the y-axis of the vehicle's reference system, that is, the center of bounding box. // Counterclockwise is positive and clockwise is negative. // optional double slip = 4; @@ -215,28 +215,28 @@ message HostVehicleData } // - // \brief Current calculated and estimated location that can be based on GNSS- and related navigation sensors, - // but this message does not contain the single sensor values of the sensorics. + // \brief Current calculated and estimated location that can be based on GNSS and related navigation sensors. + // This message does not contain the individual sensor values of the sensor technology. // - // This message contains the most accurate information the vehicle knows about its positioning - // available on the board net. + // This message contains the most accurate information the vehicle knows about its position + // available in the on-board network. // Because of this the values can differ from the "true" values calculated out of // GroundTruth::proj_string, GroundTruth::MovingObject::BaseMoving::position, GroundTruth::host_vehicle_id. // message VehicleLocalization { - // Most accurate position information of the vehicle available on the board net. - // The reference point for position, i.e. the center (x,y,z) of the bounding box + // Most accurate position information of the vehicle available in the on-board network. + // The reference point for position, that is, the center (x,y,z) of the bounding box // in context to the global coordinate system. // optional Vector3d position = 1; - // Most accurate orientation information of the vehicle available on the board net + // Most accurate orientation information of the vehicle available in the on-board network // in context to the global coordinate system. // optional Orientation3d orientation = 2; - // Most accurate geodetic information of the vehicle available on the board net. + // Most accurate geodetic information of the vehicle available in the on-board network. // optional GeodeticPosition geodetic_position = 3; } From 60e1ad253cafc75f35d89bd71b132d87d179e050 Mon Sep 17 00:00:00 2001 From: spider <Thomas.Nader@bmw.de> Date: Mon, 11 Oct 2021 13:26:36 +0200 Subject: [PATCH 151/219] Added VehicleBrakeSystem and changed to VehicleSteering MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Changes done to be open for SetLevel4to5 Requirements. Signed-off-by: spider <Thomas.Nader@bmw.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_hostvehicledata.proto | 47 ++++++++++++++++++++++++++++++++------- 1 file changed, 39 insertions(+), 8 deletions(-) diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index f1fee329e..c629e45b9 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -55,17 +55,21 @@ message HostVehicleData // optional VehiclePowertrain vehicle_powertrain = 4; - // Interface regarding the steering wheel. + // Interface regarding the brake system // - optional VehicleSteeringWheel vehicle_steering_wheel = 5; + optional VehicleBrakeSystem vehicle_brake_system = 5; + + // Interface regarding the steering. + // + optional VehicleSteering vehicle_steering = 6; // Interface regarding the wheels. // - optional VehicleWheels vehicle_wheels = 6; + optional VehicleWheels vehicle_wheels = 7; // Interface regarding the localization. // - optional VehicleLocalization vehicle_localization = 7; + optional VehicleLocalization vehicle_localization = 8; // // \brief The absolute base parameters of the vehicle. @@ -87,9 +91,15 @@ message HostVehicleData // message VehiclePowertrain { - // The positions of the pedals. + // Position of the acceleration pedal. + // Range: 0-1 (Unpressed - fully pressed) + // + optional double pedal_position_acceleration = 1; + + // Position of the clutch pedal. + // Range: 0-1 (Unpressed - fully pressed) // - optional Pedalry pedalry = 1; + optional double pedal_position_clutch = 2; // The actual gear of the transmission. // For example, a gear lever can be on "D" and the transmission on "4", but not the @@ -101,11 +111,11 @@ message HostVehicleData // - negative: reverse mode (generally -1, but few vehicles have more than 1 // reverse mode gears) // - optional int32 gear_transmission = 2; + optional int32 gear_transmission = 3; // Information about the motor(s). // - repeated Motor motor = 3; + repeated Motor motor = 4; // // \brief A description of the motor states. @@ -155,6 +165,27 @@ message HostVehicleData } } + // + // \brief The focus here is on the description of the brake system. + // + message VehicleBrakeSystem + { + // Position of the brake pedal. + // Range: 0-1 (Unpressed - fully pressed) + // + optional double pedal_position_brake = 1; + } + + // + // \brief The focus here is on the description of the steering train. + // + message VehicleSteering + { + // Description of the steering wheel. + // + optional VehicleSteeringWheel vehicle_steering_wheel = 1; + } + // // \brief The focus here is on the description of the wheels. // From 02f85be7f5ee29aea0c3edb209adc6953858d833 Mon Sep 17 00:00:00 2001 From: Thomas Nader <Thomas.Nader@bmw.de> Date: Mon, 18 Oct 2021 08:33:07 +0200 Subject: [PATCH 152/219] Added host vehicle id and minor description modifications. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Nader <Thomas.Nader@bmw.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_hostvehicledata.proto | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index c629e45b9..40436d5ac 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -12,7 +12,7 @@ package osi3; // If there is a duplication with values from the rest of SensorView or SensorData, than these shall be taken. // // It consists of different messages categorizing the vehicle in: -// Vehicle-Basics, Vehicle-Powertrain, Vehicle-SteeringWheel, Vehicle-Wheels, Vehicle-Localization. +// Basics, powertrain, brake system, vehicle steering, vehicle wheels, vehicle localization. // // \image html OSI_HostVehicle.svg // @@ -20,7 +20,7 @@ message HostVehicleData { // The interface version used by the sender. // - optional InterfaceVersion version = 10; + optional InterfaceVersion version = 9; // The timestamp of the host vehicle data. Zero time is arbitrary but must be // identical for all messages. Zero time does not need to coincide with @@ -30,7 +30,11 @@ message HostVehicleData // \note This is the point in time that the host vehicle data message becomes // available as snapshot from the board net information. // - optional Timestamp timestamp = 11; + optional Timestamp timestamp = 10; + + // The ID of the host vehicle in any associated GroundTruth data. + // + optional Identifier host_vehicle_id = 11; // Deprecated: Will be removed in next major release. Moved to VehiclePositionAndKinematics. // Current estimated location based on GPS- and related navigation sensors. @@ -63,7 +67,7 @@ message HostVehicleData // optional VehicleSteering vehicle_steering = 6; - // Interface regarding the wheels. + // Interface regarding the internal wheel states. // optional VehicleWheels vehicle_wheels = 7; @@ -187,7 +191,7 @@ message HostVehicleData } // - // \brief The focus here is on the description of the wheels. + // \brief The focus here is on the description of internal wheel states. // message VehicleWheels { @@ -198,7 +202,7 @@ message HostVehicleData repeated WheelData wheel_data = 1; // - // \brief The focus here is on the description of a wheel. + // \brief The focus here is on the description of internal wheel states. // message WheelData { From 0d5fd2d848c8b59965f2c949ed35fe949a4d63b3 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" <pmai@pmsf.de> Date: Tue, 19 Oct 2021 11:46:38 +0200 Subject: [PATCH 153/219] Minor clarifications and language corrections MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_hostvehicledata.proto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index 40436d5ac..a40f0e6dc 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -8,8 +8,8 @@ import "osi_common.proto"; package osi3; // \brief Host vehicle data is about the perception of the vehicle about its own internal states. -// It can be understood as an interface container for restbussimulation signals. -// If there is a duplication with values from the rest of SensorView or SensorData, than these shall be taken. +// It captures the knowledge the vehicle has internally, which can differ from the actual or global truth for various reasons. +// This message can also be understood as an interface container for the signals of a rest bus simulation. // // It consists of different messages categorizing the vehicle in: // Basics, powertrain, brake system, vehicle steering, vehicle wheels, vehicle localization. From ab3c0f031d05229bde83a9c668b1355dcd5a40b8 Mon Sep 17 00:00:00 2001 From: Stefan Cyliax <stefan.cyliax@asam.net> Date: Wed, 20 Oct 2021 15:20:48 +0200 Subject: [PATCH 154/219] Doc: changed code highlighting of install commands MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/trace_file_naming.adoc | 2 -- doc/setup/installing_linux_cpp.adoc | 7 ------- doc/setup/installing_linux_python.adoc | 4 ---- doc/setup/installing_windows_cpp.adoc | 6 ------ doc/setup/installing_windows_python.adoc | 3 --- 5 files changed, 22 deletions(-) diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc index a02a5a10f..06164f49a 100644 --- a/doc/architecture/trace_file_naming.adoc +++ b/doc/architecture/trace_file_naming.adoc @@ -4,7 +4,6 @@ The names of OSI trace files should have the following format: -[source] ---- <timestamp>_<type>_<osi-version>_<protobuf-version>_<number-of-frames>_<custom-trace-name>.osi ---- @@ -54,7 +53,6 @@ Given an OSI trace file with the following information: The recommended file name is: -[source] ---- 20210818T150542Z_sv_312_300_1523_highway.osi ---- diff --git a/doc/setup/installing_linux_cpp.adoc b/doc/setup/installing_linux_cpp.adoc index 4dd9c1a10..540eb1de4 100644 --- a/doc/setup/installing_linux_cpp.adoc +++ b/doc/setup/installing_linux_cpp.adoc @@ -11,28 +11,24 @@ . Open a terminal. . Clone the Open Simulation repository. + -[source] ---- git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git ---- + . Switch to the repository directory. + -[source] ---- cd open-simulation-interface ---- + . Create a new directory for the build. + -[source] ---- mkdir build ---- + . Switch to the new directory. + -[source] ---- cd build ---- @@ -41,21 +37,18 @@ cd build To build a 32-bit target under 64-bit Linux, add `-DCMAKE_CXX_FLAGS="-m32"` to the cmake command. In this case, protobuf must be in 32-bit mode too. + -[source] ---- cmake .. ---- + . Run make. + -[source] ---- make ---- + . Install Open Simulation Interface. + -[source] ---- sudo make install ---- diff --git a/doc/setup/installing_linux_python.adoc b/doc/setup/installing_linux_python.adoc index 8d0069c67..d83150a68 100644 --- a/doc/setup/installing_linux_python.adoc +++ b/doc/setup/installing_linux_python.adoc @@ -12,28 +12,24 @@ . Open a terminal. . Clone the Open Simulation repository. + -[source] ---- git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git ---- + . Switch to the repository directory. + -[source] ---- cd open-simulation-interface ---- + . Create a new virtual environment. + -[source] ---- virtualenv -p python3 venv ---- + . Activate the virtual environment. + -[source] ---- source venv/bin/activate ---- diff --git a/doc/setup/installing_windows_cpp.adoc b/doc/setup/installing_windows_cpp.adoc index 44757cfa9..d365803f1 100644 --- a/doc/setup/installing_windows_cpp.adoc +++ b/doc/setup/installing_windows_cpp.adoc @@ -10,28 +10,24 @@ . Open a terminal as administrator. . Clone the Open Simulation repository. + -[source] ---- git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git ---- + . Switch to the repository directory. + -[source] ---- cd open-simulation-interface ---- + . Create a new directory for the build. + -[source] ---- mkdir build ---- + . Switch to the new directory. + -[source] ---- cd build ---- @@ -40,14 +36,12 @@ cd build To build a 64-bit target, add `Win64` to the generator name. In this case, protobuf and protoc.exe must be in 64-bit mode too. + -[source] ---- cmake .. [-G <generator>] [-DCMAKE_INSTALL_PREFIX=<osi-install-directory>] ---- + . Build and install OSI. + -[source] ---- cmake --build . [--config Release] cmake --build . --target install diff --git a/doc/setup/installing_windows_python.adoc b/doc/setup/installing_windows_python.adoc index 4f48d42d9..660428d53 100644 --- a/doc/setup/installing_windows_python.adoc +++ b/doc/setup/installing_windows_python.adoc @@ -10,21 +10,18 @@ . Open a terminal. . Clone the Open Simulation repository. + -[source] ---- git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git ---- + . Switch to the repository directory. + -[source] ---- cd open-simulation-interface ---- + . Run the setup script. + -[source] ---- python setup.py install ---- From bec85891447cd7104636b64d6fd0f47e327963c0 Mon Sep 17 00:00:00 2001 From: pasched <patrick.schedlbauer@parson-europe.com> Date: Tue, 26 Oct 2021 10:54:20 +0200 Subject: [PATCH 155/219] adjusted linking method MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: pasched <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/formatting_scripts.adoc | 2 +- doc/architecture/trace_file_formats.adoc | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index d1ee28b3d..2ff767ce4 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -49,4 +49,4 @@ The default value is `None`. **Related topics** -* <<#top-1a2f4b0c-195c-4f18-89ad-d48a123bd8c1>>[OSI trace file formats] \ No newline at end of file +* <<_osi_trace_file_formats>> \ No newline at end of file diff --git a/doc/architecture/trace_file_formats.adoc b/doc/architecture/trace_file_formats.adoc index a029d2d1b..510797dff 100644 --- a/doc/architecture/trace_file_formats.adoc +++ b/doc/architecture/trace_file_formats.adoc @@ -1,4 +1,3 @@ -[#top-1a2f4b0c-195c-4f18-89ad-d48a123bd8c1] = OSI trace file formats There are multiple formats for storing multiple serialized OSI messages in one trace file. From ca3c84b487ad4e2b2e22e14ddec8ee6f1b140cb7 Mon Sep 17 00:00:00 2001 From: pasched <patrick.schedlbauer@parson-europe.com> Date: Tue, 26 Oct 2021 11:09:23 +0200 Subject: [PATCH 156/219] moved versioning.adoc to osi-documentation MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: pasched <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/releases/versioning.adoc | 35 ----------------------------------- 1 file changed, 35 deletions(-) delete mode 100644 doc/releases/versioning.adoc diff --git a/doc/releases/versioning.adoc b/doc/releases/versioning.adoc deleted file mode 100644 index f8d347b48..000000000 --- a/doc/releases/versioning.adoc +++ /dev/null @@ -1,35 +0,0 @@ -= Versioning and compatibility - -The version number is defined in `InterfaceVersion::version_number` in `osi_version.proto` as the field's default value. - -OSI uses https://semver.org/[Semantic Versioning]. - -Major:: -A change in the major version makes the code and recorded proto messages incompatible. -+ -Major changes include: -+ -* An existing field with a number changing its meaning. -Example: `optional double field = 1;` changes to `repeated double field = 1;`. -* Changing the definition of units or the interpretation of a field. -* Deleting a field and reusing the field number. -* Changing the technology from Protocol Buffers to FlatBuffers. - -Minor:: -A change in the minor version indicates there is still compatibility with previously recorded files. -However, the code needs fixing. -+ -Minor changes include: -+ -* Renaming a field without changing the field number. -* Changing the names of messages. -* Adding a new field in a message without changing the numbering of other fields. - -Patch:: -Both recorded files and code still have compatibility. -+ -Patches include: -+ -* File or folder structure that does not affect integration of the code in other projects. -* Changing or adding comments. -* Clarifying text passages explaining the message content. From 77c6bd965ee0405d4bdba67492f71911ef9514ab Mon Sep 17 00:00:00 2001 From: pasched <patrick.schedlbauer@parson-europe.com> Date: Tue, 26 Oct 2021 15:10:53 +0200 Subject: [PATCH 157/219] docs: revise message formatting MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: pasched <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .../environmental_effect_model.adoc | 4 +-- doc/architecture/feature_data.adoc | 4 +-- doc/architecture/ground_truth.adoc | 4 +-- doc/architecture/logical_model.adoc | 2 +- doc/architecture/sensor_data.adoc | 4 +-- doc/architecture/sensor_model.adoc | 3 +-- doc/architecture/sensor_view.adoc | 2 +- .../sensor_view_configuration.adoc | 26 +++++++++---------- doc/architecture/trace_file_naming.adoc | 10 +++---- doc/architecture/traffic_command.adoc | 2 +- doc/architecture/traffic_update.adoc | 2 +- 11 files changed, 31 insertions(+), 32 deletions(-) diff --git a/doc/architecture/environmental_effect_model.adoc b/doc/architecture/environmental_effect_model.adoc index c58432a40..7ef1e7dbb 100644 --- a/doc/architecture/environmental_effect_model.adoc +++ b/doc/architecture/environmental_effect_model.adoc @@ -1,7 +1,7 @@ = Environmental effect model -Environmental effect models consume sensor-view messages and produce sensor-view messages. -Environmental effect models may, for example, alter sensor-view messages to include effects and phenomena caused by: +Environmental effect models consume `SensorView` messages and produce `SensorView` messages. +Environmental effect models may, for example, alter `SensorView` messages to include effects and phenomena caused by: * Shadows and occlusions * Weather effects diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc index e9b1c9c81..79527d6f9 100644 --- a/doc/architecture/feature_data.adoc +++ b/doc/architecture/feature_data.adoc @@ -1,5 +1,5 @@ = Feature data -Feature-data messages contain detected features in the reference frame of a sensor. -Feature-data messages are generated from ground-truth messages. +`FeatureData` messages 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. diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index b6599acf0..6cbeda809 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -1,5 +1,5 @@ = Ground truth -Ground-truth messages describe the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances. +`GroundTruth` messages describe the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances. They are based on data available to the simulation environment. -Ground-truth messages are typically contained in sensor view messages. \ No newline at end of file +`GroundTruth messages are typically contained in `Sensorview` messages. \ No newline at end of file diff --git a/doc/architecture/logical_model.adoc b/doc/architecture/logical_model.adoc index ee5111cb5..3fec5de78 100644 --- a/doc/architecture/logical_model.adoc +++ b/doc/architecture/logical_model.adoc @@ -1,6 +1,6 @@ = Logical model -Logical models consume sensor-data messages and produce sensor-data messages. +Logical models consume `SensorData` messages and produce `SensorData` messages. An example of a logical model is a sensor-fusion model, which combines the output of multiple sensor models to produce data with less uncertainty. Another use case is the fault-injection model which, contrary to a sensor-fusion model, may be used to increase uncertainties. \ No newline at end of file diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index 17722ac78..6096fbb76 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,7 +1,7 @@ = Sensor data -Sensor-data messages imitate the output of real sensors. -They can be generated from ground-truth messages, sensor-view messages, feature-data messages, or sensor-data messages. +`SensorData` messages imitate the output of real sensors. +They can be generated from `GroundTruth` messages, `SensorView` messages, `FeatureData` messages, or `SensorData` messages. 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. diff --git a/doc/architecture/sensor_model.adoc b/doc/architecture/sensor_model.adoc index 9bf981079..423ea0668 100644 --- a/doc/architecture/sensor_model.adoc +++ b/doc/architecture/sensor_model.adoc @@ -1,5 +1,4 @@ = Sensor model -Sensor models consume sensor-view messages and produce sensor-data messages. - +Sensor models consume `SensorView` messages and produce `SensorData` messages. Sensor-model output does not represent raw data but detected features or classified objects. \ No newline at end of file diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index a143ed182..e89a62812 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -1,7 +1,7 @@ = Sensor view The sensor view provides the input to OSI sensor models. -Sensor-view messages are derived from ground-truth messages. +`SensorView` messages are derived from 'GroundTruth' messages. All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: * Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor's mounting position. diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index ed8165a5f..9bba9d973 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,27 +1,27 @@ -= Sensor view configuration += Sensor-view configuration The sensor view is flexibly defined to provide different kinds of sensor models with an appropriate input. -The sensor view configuration defines the configuration of a particular sensor view. +The sensor-view configuration defines the configuration of a particular sensor view. -The sensor-view-configuration message is used in the initialization phase of a simulation to negotiate the sensor view configuration for a particular sensor view input. -It is also included as a sub-message in sensor view messages to indicate that the sensor view configuration is valid for a particular sensor view message. +The `SensorViewConfiguration` message is used in the initialization phase of a simulation to negotiate the sensor-view configuration for a particular `SensorView` input. +It is also included as a sub-message in `SensorView` messages to indicate that the sensor-view configuration is valid for a particular `SensorView` message. -Sensor-view-configuration data has two main applications: +`SensorViewConfiguration` data has two main applications: -- Enable the environment simulation to provide the necessary input to a sensor model. -- Enable a sensor model to check whether the input matches its requirements. +* Enable the environment simulation to provide the necessary input to a sensor model. +* Enable a sensor model to check whether the input matches its requirements. If the input does not match the requirements, the sensor model may terminate the simulation. -NOTE: Sensor-view-configuration data is intended for the automatic configuration of the sensor view interface between an environment simulation and sensor model. +NOTE: `SensorViewConfiguration` data is intended for the automatic configuration of the `SensorView` interface between an environment simulation and sensor model. The data is not intended to be a mechanism for parametrizing a generic sensor model. -During the initialization phase, there are two sources for sensor-view-configuration data: +During the initialization phase, there are two sources for `SensorViewConfiguration` data: -1. Sensor-view configuration data may be provided by the sensor model to the environment simulation. +. `SensorViewConfiguration` data may be provided by the sensor model to the environment simulation. In this case, the data describes the input configuration that is requested by the sensor model. If the sensor model does not provide such data, then the environment simulation will fall back to manual configuration of the sensor view. - -2. Sensor-view configuration data may be provided by the environment simulation. ++ +. `SensorViewConfiguration` data may be provided by the environment simulation. In response to the request by the sensor model, or based on manual configuration, the environment simulation configures the input and provides a new message that describes the actual configuration. The configuration requested by the sensor model may differ from the configuration provided by the environment simulation. @@ -31,4 +31,4 @@ In response to this difference, the sensor model can either accept this differen The packaging layer defines the specifics of this auto-negotiation mechanism. -After the initialization phase, the environment simulation provides the actual sensor view configuration as part of each sensor view message. \ No newline at end of file +After the initialization phase, the environment simulation provides the actual sensor-view configuration as part of each `SensorView` message. \ No newline at end of file diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc index 06164f49a..6899b8ce9 100644 --- a/doc/architecture/trace_file_naming.adoc +++ b/doc/architecture/trace_file_naming.adoc @@ -11,19 +11,19 @@ The names of OSI trace files should have the following format: **Types** `sd`:: -Trace file contains sensor-data messages. +Trace file contains `SensorData` messages. `sv`:: -Trace file contains sensor-view messages. +Trace file contains `SensorView` messages. `gt`:: -Trace file contains ground-truth messages. +Trace file contains `GroundTruth` messages. `tu`:: -Trace file contains traffic-update messages. +Trace file contains `TrafficUpdate` messages. `tc`:: -Trace file contains traffic-command messages. +Trace file contains `TrafficCommand` messages. **Example** diff --git a/doc/architecture/traffic_command.adoc b/doc/architecture/traffic_command.adoc index 7f911cb1a..b8fd41657 100644 --- a/doc/architecture/traffic_command.adoc +++ b/doc/architecture/traffic_command.adoc @@ -1,3 +1,3 @@ = Traffic command -Traffic-command messages contain control commands from the scenario engine to traffic participant models. \ No newline at end of file +`TrafficCommand` messages contain control commands from the scenario engine to traffic participant models. \ No newline at end of file diff --git a/doc/architecture/traffic_update.adoc b/doc/architecture/traffic_update.adoc index 528056991..e788df8be 100644 --- a/doc/architecture/traffic_update.adoc +++ b/doc/architecture/traffic_update.adoc @@ -1,4 +1,4 @@ = Traffic update -Traffic-update messages are provided by traffic participants. +`TrafficUpdate` messages are provided by traffic participants. They provide updates on the position, state, and future trajectory of a traffic participant back to the simulation environment. \ No newline at end of file From 9ba7c778186aae4205388652d03551e33c46e624 Mon Sep 17 00:00:00 2001 From: pasched <patrick.schedlbauer@parson-europe.com> Date: Wed, 27 Oct 2021 09:04:26 +0200 Subject: [PATCH 158/219] docs: revise message formatting (continued) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: pasched <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/architecture/environmental_effect_model.adoc | 2 +- doc/architecture/ground_truth.adoc | 2 +- doc/architecture/sensor_view.adoc | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/architecture/environmental_effect_model.adoc b/doc/architecture/environmental_effect_model.adoc index 7ef1e7dbb..89bc02b7e 100644 --- a/doc/architecture/environmental_effect_model.adoc +++ b/doc/architecture/environmental_effect_model.adoc @@ -6,4 +6,4 @@ Environmental effect models may, for example, alter `SensorView` messages to inc * Shadows and occlusions * Weather effects * Physics of a sensor -* Pre-processing of raw sensor data +* Pre-processing of raw sensor data \ No newline at end of file diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index 6cbeda809..2a03bc137 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -2,4 +2,4 @@ `GroundTruth` messages describe the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances. They are based on data available to the simulation environment. -`GroundTruth messages are typically contained in `Sensorview` messages. \ No newline at end of file +`GroundTruth` messages are typically contained in `Sensorview` messages. \ No newline at end of file diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index e89a62812..394d26ab4 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -1,7 +1,7 @@ = Sensor view The sensor view provides the input to OSI sensor models. -`SensorView` messages are derived from 'GroundTruth' messages. +`SensorView` messages are derived from `GroundTruth` messages. All information regarding the environment is given with respect to the virtual sensor coordinate system, with two exceptions: * Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor's mounting position. From 2041a041c1504b88cc22f0cd634724acbd6e9de0 Mon Sep 17 00:00:00 2001 From: pasched <patrick.schedlbauer@parson-europe.com> Date: Wed, 27 Oct 2021 09:27:14 +0200 Subject: [PATCH 159/219] docs: exclude versioning.adoc in map, moved to osi-documentation MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: pasched <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/open-simulation-interface_user_guide.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 80511fdf3..3bf59c66f 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -120,7 +120,7 @@ include::./misc/osi_reference.adoc[leveloffset=+1] == Releases -include::./releases/versioning.adoc[leveloffset=+2] +//include::./releases/versioning.adoc[leveloffset=+2] include::./releases/releases.adoc[leveloffset=+2] From 200200a6ae11c87e96f43764efa4ddb7fe71393c Mon Sep 17 00:00:00 2001 From: pasched <patrick.schedlbauer@parson-europe.com> Date: Wed, 27 Oct 2021 09:49:35 +0200 Subject: [PATCH 160/219] docs: excluded release notes MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: pasched <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/open-simulation-interface_user_guide.adoc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 3bf59c66f..4a989603f 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -118,9 +118,10 @@ include::./setup/installing_windows_python.adoc[leveloffset=+2] include::./misc/osi_reference.adoc[leveloffset=+1] +//// == Releases -//include::./releases/versioning.adoc[leveloffset=+2] +include::./releases/versioning.adoc[leveloffset=+2] include::./releases/releases.adoc[leveloffset=+2] @@ -139,3 +140,4 @@ include::./releases/v03.02.adoc[leveloffset=+3] include::./releases/v03.03.adoc[leveloffset=+3] //include::./releases/compatibility.adoc[leveloffset=+2] +//// \ No newline at end of file From 2528482dcc582b0e0a37f550ba361fe58bf7ddf9 Mon Sep 17 00:00:00 2001 From: Hendrik Amelunxen <hamelunxen@dspace.de> Date: Tue, 19 Oct 2021 09:30:13 +0200 Subject: [PATCH 161/219] feat: Extend laneboundary types with additional types from OpenDRIVE MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Hendrik Amelunxen <hamelunxen@dspace.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) diff --git a/osi_lane.proto b/osi_lane.proto index aea0b31ab..e19a0169e 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -1032,6 +1032,22 @@ message LaneBoundary // A structure (e.g. building or tunnel wall). // TYPE_STRUCTURE = 13; + + // A barrier (e.g. a concrete barrier on a highway). + // + TYPE_BARRIER = 14; + + // A sound barrier. + // + TYPE_SOUND_BARRIER = 15; + + // A railing (e.g. divider between road and sidewalk). + // + TYPE_RAILING = 16; + + // A line of poles limiting a lane. + // + TYPE_POLES = 17; } // The semantic color of the lane boundary in case of a lane markings. From 1fc4d017eb83434956b38520a3fde3b3e33ff343 Mon Sep 17 00:00:00 2001 From: Hendrik Amelunxen <hamelunxen@dspace.de> Date: Tue, 19 Oct 2021 10:46:18 +0200 Subject: [PATCH 162/219] Removed poles (should be handled as TYPE_STRUCTURE) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Limit to types with distance = 0, i.e. continuous objects. Signed-off-by: Hendrik Amelunxen <hamelunxen@dspace.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 4 ---- 1 file changed, 4 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index e19a0169e..f6d87f388 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -1044,10 +1044,6 @@ message LaneBoundary // A railing (e.g. divider between road and sidewalk). // TYPE_RAILING = 16; - - // A line of poles limiting a lane. - // - TYPE_POLES = 17; } // The semantic color of the lane boundary in case of a lane markings. From e61897099be96edac121ff03ae50896732064185 Mon Sep 17 00:00:00 2001 From: Hendrik Amelunxen <hamelunxen@dspace.de> Date: Wed, 20 Oct 2021 11:14:49 +0200 Subject: [PATCH 163/219] Removed railing type; extended description for barrier-type. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Hendrik Amelunxen <hamelunxen@dspace.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index f6d87f388..edec4bb31 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -1033,17 +1033,13 @@ message LaneBoundary // TYPE_STRUCTURE = 13; - // A barrier (e.g. a concrete barrier on a highway). + // A barrier to guide vehicles and to prevent them from entering other lanes (e.g. a concrete barrier on a highway). // TYPE_BARRIER = 14; // A sound barrier. // TYPE_SOUND_BARRIER = 15; - - // A railing (e.g. divider between road and sidewalk). - // - TYPE_RAILING = 16; } // The semantic color of the lane boundary in case of a lane markings. From 07f4708e2751964db66c3b2f92536e0c5cc3d245 Mon Sep 17 00:00:00 2001 From: pasched <patrick.schedlbauer@parson-europe.com> Date: Thu, 28 Oct 2021 12:42:02 +0200 Subject: [PATCH 164/219] docs: removed chapter with link to reference doc, to be inserted in deliverables MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: pasched <patrick.schedlbauer@parson-europe.com> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/misc/osi_reference.adoc | 5 ----- 1 file changed, 5 deletions(-) delete mode 100644 doc/misc/osi_reference.adoc diff --git a/doc/misc/osi_reference.adoc b/doc/misc/osi_reference.adoc deleted file mode 100644 index f9203d706..000000000 --- a/doc/misc/osi_reference.adoc +++ /dev/null @@ -1,5 +0,0 @@ -= Reference documentation - -The reference documentation for OSI is generated with Doxygen. -It is available at: -https://opensimulationinterface.github.io/open-simulation-interface/ From d55c674a4d1191071ae3c4c1f5ab0b1d8d296672 Mon Sep 17 00:00:00 2001 From: Stefan Cyliax <stefan.cyliax@asam.net> Date: Thu, 28 Oct 2021 13:01:55 +0200 Subject: [PATCH 165/219] restructured modeling a traffic participant MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/open-simulation-interface_user_guide.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 4a989603f..6c25b9440 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -50,7 +50,7 @@ include::./architecture/logical_model.adoc[leveloffset=+3] include::./architecture/traffic_participant.adoc[leveloffset=+3] -include::./usecases/modeling_traffic_participant.adoc[leveloffset=+3] +include::./usecases/modeling_traffic_participant.adoc[leveloffset=+4] //include::./architecture/vehicle_dynamics.adoc[leveloffset=+3] From c1ec689e9803b9453e5ec3884a229f531e99bbff Mon Sep 17 00:00:00 2001 From: Stefan Cyliax <stefan.cyliax@asam.net> Date: Thu, 28 Oct 2021 22:11:49 +0200 Subject: [PATCH 166/219] doc: small fix to rendering of install steps MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/setup/installing_linux_python.adoc | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/doc/setup/installing_linux_python.adoc b/doc/setup/installing_linux_python.adoc index d83150a68..84f507461 100644 --- a/doc/setup/installing_linux_python.adoc +++ b/doc/setup/installing_linux_python.adoc @@ -35,5 +35,14 @@ source venv/bin/activate ---- + . Install Open Simulation Interface. -Local installation:: `pip3 install .` -Global installation:: `sudo pip3 install .` +.. Local installation ++ +---- +pip3 install . +---- ++ +.. Global installation ++ +---- +sudo pip3 install . +---- From 05532c6f7434a9d81bbcf7a1dcb578607eda35d1 Mon Sep 17 00:00:00 2001 From: Stefan Cyliax <stefan.cyliax@asam.net> Date: Thu, 28 Oct 2021 22:19:09 +0200 Subject: [PATCH 167/219] doc: fix of naming of standard MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/misc/osi_vision.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/misc/osi_vision.adoc b/doc/misc/osi_vision.adoc index 9e5cb6171..f0bc4ec3a 100644 --- a/doc/misc/osi_vision.adoc +++ b/doc/misc/osi_vision.adoc @@ -1,5 +1,5 @@ = Idea behind Open Simulation Interface -The Open Simulation Interface (OSI) is a specification for interfaces between models and components of a distributed simulation. +{THIS_STANDARD} Open Simulation Interface is a specification for interfaces between models and components of a distributed simulation. OSI is strongly focused on the environmental perception of automated driving functions. However, OSI also specifies interfaces for modeling traffic participants. \ No newline at end of file From dd9b54860bd3b3cd3f72d36f5479bcb07d350c9e Mon Sep 17 00:00:00 2001 From: paagkame <katrin.mehl@parson-europe.com> Date: Fri, 29 Oct 2021 11:18:00 +0200 Subject: [PATCH 168/219] fix(docs): corrected vector from rear axis to sensor mounting point (#456) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * fix(docs): corrected vector from rear axis to sensor mounting point and separated virtual mounting position from middle of rear axle Signed-off-by: Katrin Mehl <katrin.mehl@parson-europe.com> Co-authored-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/images/OSI_MovingObject.svg | 12006 ++++++++++++++---------------- 1 file changed, 5670 insertions(+), 6336 deletions(-) diff --git a/doc/images/OSI_MovingObject.svg b/doc/images/OSI_MovingObject.svg index 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(#595) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Nader <Thomas.Nader@bmw.de> Co-authored-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_hostvehicledata.proto | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index a40f0e6dc..761a2d42e 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -12,7 +12,7 @@ package osi3; // This message can also be understood as an interface container for the signals of a rest bus simulation. // // It consists of different messages categorizing the vehicle in: -// Basics, powertrain, brake system, vehicle steering, vehicle wheels, vehicle localization. +// Basics, powertrain, brake system, steering, wheels and localization. // // \image html OSI_HostVehicle.svg // @@ -36,14 +36,14 @@ message HostVehicleData // optional Identifier host_vehicle_id = 11; - // Deprecated: Will be removed in next major release. Moved to VehiclePositionAndKinematics. + // Deprecated: Will be removed in next major release. Moved to vehicle_localization. // Current estimated location based on GPS- and related navigation sensors. // // \note Note that dimension and base_polygon need not be set. // optional BaseMoving location = 1; - // Deprecated: Will be removed in next major release. Moved to VehiclePositionAndKinematics. + // Deprecated: Will be removed in next major release. Moved to vehicle_localization. // Current estimated location error based on GPS and related navigation // sensors. // @@ -59,7 +59,7 @@ message HostVehicleData // optional VehiclePowertrain vehicle_powertrain = 4; - // Interface regarding the brake system + // Interface regarding the brake system. // optional VehicleBrakeSystem vehicle_brake_system = 5; From dd911289fa0e15b970e76301e1f5a16302e048db Mon Sep 17 00:00:00 2001 From: Stefan Cyliax <stefan.cyliax@asam.net> Date: Thu, 18 Nov 2021 13:53:46 +0100 Subject: [PATCH 170/219] Prepare Release of 3.4 (#598) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * maint: Increased version for next release and reworked versioning for doxygen build Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- .github/workflows/protobuf.yml | 9 +++++++-- .gitmodules | 3 --- README.md | 2 +- VERSION | 4 ++-- asciidoc-resources | 1 - 5 files changed, 10 insertions(+), 9 deletions(-) delete mode 160000 asciidoc-resources diff --git a/.github/workflows/protobuf.yml b/.github/workflows/protobuf.yml index 83a53b364..20040e9b0 100644 --- a/.github/workflows/protobuf.yml +++ b/.github/workflows/protobuf.yml @@ -71,9 +71,14 @@ jobs: - name: Prepare C++ Build run: mkdir build - - name: Prepare Documentation Bukd + # Versioning + - name: Get versioning + id: get_version + run: echo ::set-output name=VERSION::$(git describe --always) + + - name: Prepare Documentation Build run: | - sed -i 's/@VERSION_PATCH@/@VERSION_PATCH@_GitHub_MasterBranch/g' doxygen_config.cmake.in + sed -i 's/PROJECT_NUMBER\s*= @VERSION_MAJOR@.@VERSION_MINOR@.@VERSION_PATCH@/PROJECT_NUMBER = master (${{ steps.get_version.outputs.VERSION }})/g' doxygen_config.cmake.in echo "EXCLUDE_PATTERNS = */osi3/* */protobuf-3.15.8/* */proto2cpp/*" >> doxygen_config.cmake.in echo "GENERATE_TREEVIEW = YES" >> doxygen_config.cmake.in diff --git a/.gitmodules b/.gitmodules index cae3296fc..af7fa7314 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,3 @@ -[submodule "asciidoc-resources"] - path = asciidoc-resources - url = https://code.asam.net/simulation/asciidoc-resources.git [submodule "flatbuffers"] path = flatbuffers url = https://github.com/google/flatbuffers.git diff --git a/README.md b/README.md index 6053ce638..5ea6fee68 100644 --- a/README.md +++ b/README.md @@ -30,7 +30,7 @@ def main(): sv_ground_truth = sensorview.global_ground_truth sv_ground_truth.version.version_major = 3 - sv_ground_truth.version.version_minor = 3 + sv_ground_truth.version.version_minor = 4 sv_ground_truth.version.version_patch = 0 sv_ground_truth.timestamp.seconds = 0 diff --git a/VERSION b/VERSION index 909aa38e2..1edb9a12b 100644 --- a/VERSION +++ b/VERSION @@ -1,3 +1,3 @@ VERSION_MAJOR = 3 -VERSION_MINOR = 3 -VERSION_PATCH = 1 +VERSION_MINOR = 4 +VERSION_PATCH = 0 diff --git a/asciidoc-resources b/asciidoc-resources deleted file mode 160000 index e0bd50515..000000000 --- a/asciidoc-resources +++ /dev/null @@ -1 +0,0 @@ -Subproject commit e0bd5051571733414a219ed0e94f5de346ca49cd From cb7ac9d0add6ada6fcacc7aac903e4430149880f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Sun, 21 Nov 2021 22:18:50 +0100 Subject: [PATCH 171/219] Update osi_lane.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit First commit for surface lines concept, open for discussion Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 104 ++++++++++++++++++++++++++++++------------------- 1 file changed, 63 insertions(+), 41 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index edec4bb31..b14d90a98 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -192,53 +192,50 @@ message Lane // optional bool is_host_vehicle_lane = 2; - // The lane's center line (as a list of segments). + // A lane's surface line (as a list of segments). // - // The centerline describes the middle of the lane. + // The surfaceline describes a height profile along the lane at a certain offset to the lane boundary. + // It is intended to replace the centerline as a physical representation of the lane. The use of the + // centerline for driving/steering inputs should rather be solved with a logical information, that is not + // mandatory based on the true center of the lane. // - // \image html OSI_LaneCenterline.svg "Centerline" width=500px - // - // Example: In image \ref HighwayExit, - // the centerline of lane l4 (black line) is given by - // (cl4_1, cl4_2, cl4_3, cl4_4, cl4_5). - // - // \image html OSI_LaneBoundaries_And_CenterLine.svg "Centerline" width=500px + // \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px // // \note - // cl: center line + // sl: surface line // lb: lane boundary // - // \attention The points desribing the center line must be set in the + // \attention The points desribing the surface line must be set in the // same ordering (ascending or descending) as the points desribing the // lane boundaries. Example: If the points are deducted from a map format, // the order of points is recommended to be in line with the road coordinate // (e.g. s-coordinate in OpenDRIVE). // - // \attention The points describing the center line might be set at - // arbitrary distances. When the points are pairwise linearly connected, - // the lateral distance to the real ideal line (as used by the - // simulation environment internally) must not exceed 5cm. As shown in - // the following image: + // \attention The points describing the surface line might be set at + // arbitrary distances. This allowes to model certain height changes along the + // lane like speed bumps etc. more detailed while still allow very few points + // at parts of the lane where height does not change much. // - // \image html line_approximation_error.svg "Approximation error" - // Approximation error green line. + // \note The surface line is the line that describes the height profile + // along the lane. Multiple surface lines can be used to create a certain road shape + // if needed. The simplest case would be no surface line for a flat road, since the + // lane boundaries can be used in this case. + // + // \attention If more than one surface line exists, they are not allowed to cross each other + // or the lane boundaries, otherwise you could have conflicting height information at these points. // - // \note The center line is the line that a typical vehicle follows more - // or less (depending on the situation, a little more to the left or - // right of the center line). The intended direction of travel on the - // lane is given by the direction defined by the sequence of points - // forming the \c #centerline w.r.t. \c - // #centerline_is_driving_direction. + repeated Vector3d surfaceline = 3; + + // The ID of the surface line. + // Example: sl4 (see reference picture HighwayExit). // - // \note The \c #centerline is defined only for \c #type = - // \c #TYPE_DRIVING and if exactly one or no \c #lane_pairing pair - // exists. + // \note Note ID is global unique. // - // \note Intersections and non-driving lanes do not have a center line. - // A vehicle must calculate this individually and depending on the - // situation. + // \rules + // is_globally_unique + // \endrules // - repeated Vector3d surfaceline = 3; + optional Identifier surfaceline_id = 4; // Definition of the placement of the newly introduced surfaceline in the center of the lane. // @@ -249,10 +246,35 @@ message Lane // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in // image \ref HighwayExit . // - // \note The \c #centerline_is_driving_direction is defined for \c #type + // \note The \c #centerline is currently only defined for \c #type // = \c #TYPE_DRIVING . // - optional bool surfaceline_is_centerline = 4; + optional bool surfaceline_is_centerline = 5; + + // List of IDs of all surfaceline segments that are directly adjacent to the + // surfaceline on the left side (w.r.t. ascending order of surfaceline points + // and lane boundary points). Note that lengths of surfaceline segments are + // not synchronized and therefore can contain multiple adjacent segments. + // + // \note If none or just one surfaceline is present, this may be empty. + // + // \note Up for discussion: If surface line is adjacent to a left lane boundary, + // this could contain the left_lane_boundary_id + // + repeated Identifier left_adjacent_surfaceline_id = 6; + + // List of IDs of all surfaceline segments that are directly adjacent to the + // surfaceline on the right side (w.r.t. ascending order of surfaceline points + // and lane boundary points). Note that lengths of surfaceline segments are + // not synchronized and therefore can contain multiple adjacent segments. + // + // \note If none or just one surfaceline is present, this may be empty. + // + // \note Up for discussion: If surface line is adjacent to a right lane boundary, + // this could contain the right_lane_boundary_id + // + repeated Identifier right_adjacent_surfaceline_id = 7; + // List of IDs of all lane segments that are directly adjacent to the // lane on the left side (w.r.t. ascending order of centerline points @@ -272,7 +294,7 @@ message Lane // check_if this.type is_different_to 4 else do_check is_set // \endrules // - repeated Identifier left_adjacent_lane_id = 5; + repeated Identifier left_adjacent_lane_id = 8; // List of IDs of all lane segments that are directly adjacent to the // lane on the right side (w.r.t. ascending order of centerline points @@ -292,7 +314,7 @@ message Lane // check_if this.type is_different_to 4 else do_check is_set // \endrules // - repeated Identifier right_adjacent_lane_id = 6; + repeated Identifier right_adjacent_lane_id = 9; // The antecessor/successor lane pairings of this lane. There can be // multiple pairings with the same antecessor and different successor @@ -304,7 +326,7 @@ message Lane // // \note OSI uses singular instead of plural for repeated field names. // - repeated LanePairing lane_pairing = 7; + repeated LanePairing lane_pairing = 10; // The right adjacent lane boundaries \c #right_lane_boundary_id may // only be shared with/as the left adjacent lane boundaries \c @@ -325,7 +347,7 @@ message Lane // check_if this.type is_different_to 4 else do_check is_set // \endrules // - repeated Identifier right_lane_boundary_id = 8; + repeated Identifier right_lane_boundary_id = 11; // The left adjacent lane boundaries \c #left_lane_boundary_id may only // be shared with/as the right adjacent lane boundaries \c @@ -346,7 +368,7 @@ message Lane // check_if this.type is_different_to 4 else do_check is_set // \endrules // - repeated Identifier left_lane_boundary_id = 9; + repeated Identifier left_lane_boundary_id = 12; // The free boundaries which have no/unknown assignment to left/right. // @@ -362,17 +384,17 @@ message Lane // check_if this.type is_different_to 4 else do_check is_set // \endrules // - repeated Identifier free_lane_boundary_id = 10; + repeated Identifier free_lane_boundary_id = 13; // The condition of the lane, e.g. influenced by weather. // - optional RoadCondition road_condition = 11; + optional RoadCondition road_condition = 14; // The subtype of the lane. // // This subtype specifies a lane more concretely. // - optional Subtype subtype = 12; + optional Subtype subtype = 15; // Definition of available lane types. // From 3c355a1faaa765285f52ad7118003e83efe4160f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Sun, 21 Nov 2021 22:24:16 +0100 Subject: [PATCH 172/219] Update osi_lane.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Added road shape profile picture Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 2 ++ 1 file changed, 2 insertions(+) diff --git a/osi_lane.proto b/osi_lane.proto index b14d90a98..df1d575ed 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -205,6 +205,8 @@ message Lane // sl: surface line // lb: lane boundary // + // \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px + // // \attention The points desribing the surface line must be set in the // same ordering (ascending or descending) as the points desribing the // lane boundaries. Example: If the points are deducted from a map format, From c434fbf40a0c83d897dc6cc739eae0564ad79b3e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Sun, 12 Dec 2021 23:51:32 +0100 Subject: [PATCH 173/219] Create proto_surfaceline MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit New message for SurfaceLine with proposal values for both Lanes and LogicalLanes Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- proto_surfaceline | 172 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 172 insertions(+) create mode 100644 proto_surfaceline diff --git a/proto_surfaceline b/proto_surfaceline new file mode 100644 index 000000000..c739ec90d --- /dev/null +++ b/proto_surfaceline @@ -0,0 +1,172 @@ +syntax = "proto2"; + +option optimize_for = SPEED; + +import "osi_common.proto"; +import "osi_lane.proto"; +import "osi_logicallane.proto"; + +package osi3; + +// A lane's surface line (as a list of segments). +// +// The surfaceline describes a height profile along the lane at a certain offset to the lane boundary. +// It is intended to replace the centerline as a physical representation of the lane. The use of the +// centerline for driving/steering inputs should rather be solved with a logical information, that is not +// mandatory based on the true center of the lane. +// +// \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px +// +// \note +// sl: surface line +// lb: lane boundary +// +// \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px +// +// \attention The points desribing the surface line must be set in the +// same ordering (ascending or descending) as the points desribing the +// lane boundaries or reference line. Example: If the points are deducted from +// a map format, the order of points is recommended to be in line with the +// road coordinate (e.g. s-coordinate in OpenDRIVE). +// +// \attention The points describing the surface line might be set at +// arbitrary distances. This allowes to model certain height changes along the +// lane like speed bumps etc. more detailed while still allow very few points +// at parts of the lane where height does not change much. +// +// \note The surface line is the line that describes the height profile +// along the lane. Multiple surface lines can be used to create a certain road shape +// if needed. The simplest case would be no surface line for a flat road, since the +// lane boundaries can be used in this case. +// +// \attention If more than one surface line exists, they are not allowed to cross each other +// or the lane boundaries, otherwise you could have conflicting height information at these points. +// +// Up for discussion: SurfaceLines can be in the same x/y coordinates with different z values +// in order to model vertical surfaces like curbstones + +message SurfaceLine +{ + // The ID of the surface line. + // Example: sl1 (see reference picture SurfaceLines). + // + // \note Note ID is global unique. + // + // \rules + // is_globally_unique + // \endrules + // + optional Identifier id = 1; + + // points making up the surfaceline + // The surfaceline must be defined in the same direction as the reference + // line or lane boundaries, if no reference line is present. So S positions + // should increase along the line. Note that Spositions will not always + // increase strictly monotonically. + // + // If the surfaceline approximates a curve (e.g. a cubic function in + // OpenDRIVE), the points must be chosen in a way that the lateral distance + // to the ideal line does not exceed 5cm. As shown in the following image: + // + // \image html line_approximation_error.svg "Approximation error" + // Approximation error green line. + // + // The Z error (difference in Z height between surfaceline and the "real" + // line) must not exceed 2cm, since height gaps are more noticable. + // + // Note: if two lanes have different Z heights (e.g. a driving lane is + // beside a sidewalk, where the sidewalk is 10cm higher than the road), + // then these lanes cannot share a boundary, since their boundaries have + // different Z heights. + repeated SurfaceLinePoint surfaceline = 2; + + // The reference line for this surfaceline. + // + // The reference line is used as a coordinate system for this surfaceline. + // All points of this SurfaceLine must have S coordinates in the + // range [sStart,sEnd]. + // + // The reference line should roughly have the same shape as the surfaceline, so + // that S coordinates continually increase along the lane. + // + // question: is this the "right" technical way to reference the id? + optional ReferenceLine.Identifier reference_line_id = 3; + + // Definition of the placement of the newly introduced surfaceline in the center of the lane. + // + // Defined and used for driving lanes. + // \c true means that the surface line is also the centerline of the lane4. + // + // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 + // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in + // image \ref HighwayExit . + // + // \note The \c #centerline is currently only defined for \c #type + // = \c #TYPE_DRIVING . + // + optional bool surfaceline_is_centerline = 3; + + // List of IDs of all surfaceline segments that are directly adjacent to the + // surfaceline on the left side (w.r.t. ascending order of surfaceline points + // and lane boundary points/reference line). + // Up for discussion, if lengths of surfaceline segments are + // synchronized or not and therefore can contain multiple adjacent segments. + // + // \note If none or just one surfaceline is present, this should be empty. + // + // \note If this surfaceline is neighboring the left LaneBoundary or LogicalLaneBoundary, + // should this field be empty? Other proposal would be a surfaceline would have to + // be placed also on every boundary, which may impose inconsistencies between surface + // represenation by surfacelines and boundaries + // + // \proposal In order to model curb stones more accurately, there could be + // two surfacelines with different z-values on top of each other. This would + // impose curbstones to shift from a lane boundary to a lane type. + // Must be discussed if the upper one is the "most left" surfaceline or + // if the driving lane "stops" at the lower surface line e.g lane boundary + // and the next lane just starts with the upper surface line / lane boundary. + // + repeated Identifier left_adjacent_surfaceline_id = 4; + + // List of IDs of all surfaceline segments that are directly adjacent to the + // surfaceline on the right side (w.r.t. ascending order of surfaceline points + // and lane boundary points). Note that lengths of surfaceline segments are + // not synchronized and therefore can contain multiple adjacent segments. + // + // \note If none or just one surfaceline is present, this should be empty. + // + // \note If this surfaceline is neighboring the right LaneBoundary or LogicalLaneBoundary, + // should this field be empty? Same proposal as for left_adjacent_surfaceline_id + // + repeated Identifier right_adjacent_surfaceline_id = 5; + + // if no surfaceline is placed at each LaneBoundary/LogicalLaneBoundary + // we may need to have different fields for these too or in addition + // + // \note Needs to be discussed if these fields are always filled or just for + // the most left or right surface line, that is directly adjacent to the + // boundaries. + repeated LaneBoundary.Identifier left_lane_boundary_id = 6; + repeated LaneBoundary.Identifier left_lane_boundary_id = 7; + repeated LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 8; + repeated LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 9; + + // one point of the surface line + // + message SurfaceLinePoint { + + // The position of the \c SurfaceLinePoint. + // + optional Vector3d position = 1; + + // S position of the SurfaceLinePoint, measured along the parent's + // reference_line_id. + // + optional double s_position = 2; + + // T position of the SurfaceLinePoint, measured along the parent's + // reference_line_id. + // + optional double t_position = 3; + } +} From 3eb4db634de85d90bed8a1fa591b45bc67c3cf22 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Sun, 12 Dec 2021 23:57:34 +0100 Subject: [PATCH 174/219] Update osi_lane.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Removed surfaceline additions, since they have a seperate message now Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 118 +++++++++++++++++++++---------------------------- 1 file changed, 50 insertions(+), 68 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index df1d575ed..a5634b304 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -192,91 +192,73 @@ message Lane // optional bool is_host_vehicle_lane = 2; - // A lane's surface line (as a list of segments). + // The lane's center line (as a list of segments). // - // The surfaceline describes a height profile along the lane at a certain offset to the lane boundary. - // It is intended to replace the centerline as a physical representation of the lane. The use of the - // centerline for driving/steering inputs should rather be solved with a logical information, that is not - // mandatory based on the true center of the lane. + // The centerline describes the middle of the lane. // - // \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px + // \image html OSI_LaneCenterline.svg "Centerline" width=500px + // + // Example: In image \ref HighwayExit, + // the centerline of lane l4 (black line) is given by + // (cl4_1, cl4_2, cl4_3, cl4_4, cl4_5). + // + // \image html OSI_LaneBoundaries_And_CenterLine.svg "Centerline" width=500px // // \note - // sl: surface line + // cl: center line // lb: lane boundary // - // \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px - // - // \attention The points desribing the surface line must be set in the + // \attention The points desribing the center line must be set in the // same ordering (ascending or descending) as the points desribing the // lane boundaries. Example: If the points are deducted from a map format, // the order of points is recommended to be in line with the road coordinate // (e.g. s-coordinate in OpenDRIVE). // - // \attention The points describing the surface line might be set at - // arbitrary distances. This allowes to model certain height changes along the - // lane like speed bumps etc. more detailed while still allow very few points - // at parts of the lane where height does not change much. + // \attention The points describing the center line might be set at + // arbitrary distances. When the points are pairwise linearly connected, + // the lateral distance to the real ideal line (as used by the + // simulation environment internally) must not exceed 5cm. As shown in + // the following image: // - // \note The surface line is the line that describes the height profile - // along the lane. Multiple surface lines can be used to create a certain road shape - // if needed. The simplest case would be no surface line for a flat road, since the - // lane boundaries can be used in this case. - // - // \attention If more than one surface line exists, they are not allowed to cross each other - // or the lane boundaries, otherwise you could have conflicting height information at these points. + // \image html line_approximation_error.svg "Approximation error" + // Approximation error green line. // - repeated Vector3d surfaceline = 3; - - // The ID of the surface line. - // Example: sl4 (see reference picture HighwayExit). + // \note The center line is the line that a typical vehicle follows more + // or less (depending on the situation, a little more to the left or + // right of the center line). The intended direction of travel on the + // lane is given by the direction defined by the sequence of points + // forming the \c #centerline w.r.t. \c + // #centerline_is_driving_direction. // - // \note Note ID is global unique. + // \note The \c #centerline is defined only for \c #type = + // \c #TYPE_DRIVING and if exactly one or no \c #lane_pairing pair + // exists. // - // \rules - // is_globally_unique - // \endrules + // \note Intersections and non-driving lanes do not have a center line. + // A vehicle must calculate this individually and depending on the + // situation. + // + // \note Should be deprectated in favor of SurfaceLine // - optional Identifier surfaceline_id = 4; + repeated Vector3d centerline = 3; - // Definition of the placement of the newly introduced surfaceline in the center of the lane. + // Definition of the intended driving direction. // // Defined and used for driving lanes. - // \c true means that the surface line is also the centerline of the lane4. + // \c true means driving direction is according to ascending storage + // order of center line points. \c false means driving direction is + // according to descending storage order of center line points. // - // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 - // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in + // Example: \c #centerline_is_driving_direction = \c true for lane l4 + // and \c #centerline_is_driving_direction = \c false for lane l2 in // image \ref HighwayExit . // - // \note The \c #centerline is currently only defined for \c #type + // \note The \c #centerline_is_driving_direction is defined for \c #type // = \c #TYPE_DRIVING . // - optional bool surfaceline_is_centerline = 5; - - // List of IDs of all surfaceline segments that are directly adjacent to the - // surfaceline on the left side (w.r.t. ascending order of surfaceline points - // and lane boundary points). Note that lengths of surfaceline segments are - // not synchronized and therefore can contain multiple adjacent segments. + // \note Should be deprectated in favor of SurfaceLine // - // \note If none or just one surfaceline is present, this may be empty. - // - // \note Up for discussion: If surface line is adjacent to a left lane boundary, - // this could contain the left_lane_boundary_id - // - repeated Identifier left_adjacent_surfaceline_id = 6; - - // List of IDs of all surfaceline segments that are directly adjacent to the - // surfaceline on the right side (w.r.t. ascending order of surfaceline points - // and lane boundary points). Note that lengths of surfaceline segments are - // not synchronized and therefore can contain multiple adjacent segments. - // - // \note If none or just one surfaceline is present, this may be empty. - // - // \note Up for discussion: If surface line is adjacent to a right lane boundary, - // this could contain the right_lane_boundary_id - // - repeated Identifier right_adjacent_surfaceline_id = 7; - + optional bool centerline_is_driving_direction = 4; // List of IDs of all lane segments that are directly adjacent to the // lane on the left side (w.r.t. ascending order of centerline points @@ -296,7 +278,7 @@ message Lane // check_if this.type is_different_to 4 else do_check is_set // \endrules // - repeated Identifier left_adjacent_lane_id = 8; + repeated Identifier left_adjacent_lane_id = 5; // List of IDs of all lane segments that are directly adjacent to the // lane on the right side (w.r.t. ascending order of centerline points @@ -316,7 +298,7 @@ message Lane // check_if this.type is_different_to 4 else do_check is_set // \endrules // - repeated Identifier right_adjacent_lane_id = 9; + repeated Identifier right_adjacent_lane_id = 6; // The antecessor/successor lane pairings of this lane. There can be // multiple pairings with the same antecessor and different successor @@ -328,7 +310,7 @@ message Lane // // \note OSI uses singular instead of plural for repeated field names. // - repeated LanePairing lane_pairing = 10; + repeated LanePairing lane_pairing = 7; // The right adjacent lane boundaries \c #right_lane_boundary_id may // only be shared with/as the left adjacent lane boundaries \c @@ -349,7 +331,7 @@ message Lane // check_if this.type is_different_to 4 else do_check is_set // \endrules // - repeated Identifier right_lane_boundary_id = 11; + repeated Identifier right_lane_boundary_id = 8; // The left adjacent lane boundaries \c #left_lane_boundary_id may only // be shared with/as the right adjacent lane boundaries \c @@ -370,7 +352,7 @@ message Lane // check_if this.type is_different_to 4 else do_check is_set // \endrules // - repeated Identifier left_lane_boundary_id = 12; + repeated Identifier left_lane_boundary_id = 9; // The free boundaries which have no/unknown assignment to left/right. // @@ -386,17 +368,17 @@ message Lane // check_if this.type is_different_to 4 else do_check is_set // \endrules // - repeated Identifier free_lane_boundary_id = 13; + repeated Identifier free_lane_boundary_id = 10; // The condition of the lane, e.g. influenced by weather. // - optional RoadCondition road_condition = 14; + optional RoadCondition road_condition = 11; // The subtype of the lane. // // This subtype specifies a lane more concretely. // - optional Subtype subtype = 15; + optional Subtype subtype = 12; // Definition of available lane types. // From 8acaf1ba29ce5ce559b8a7636fa72b4bf6b9b2d1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 13 Dec 2021 00:28:31 +0100 Subject: [PATCH 175/219] Create osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit New message SurfaceLine that can be used in Lane and LogicalLane Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 160 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 160 insertions(+) create mode 100644 osi_surfaceline.proto diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto new file mode 100644 index 000000000..7b1e73fbc --- /dev/null +++ b/osi_surfaceline.proto @@ -0,0 +1,160 @@ +syntax = "proto2"; + +option optimize_for = SPEED; + +import "osi_common.proto"; +import "osi_lane.proto"; +import "osi_logicallane.proto"; + +package osi3; + +// A lane's surface line (as a list of segments). +// +// The surfaceline describes a height profile along the lane at a certain offset to the lane boundary. +// It is intended to replace the centerline as a physical representation of the lane. The use of the +// centerline for driving/steering inputs should rather be solved with a logical information, that is not +// mandatory based on the true center of the lane. +// +// \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px +// +// \note +// sl: surface line +// lb: lane boundary +// +// \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px +// +// \attention The points desribing the surface line must be set in the +// same ordering (ascending or descending) as the points desribing the +// lane boundaries or reference line. Example: If the points are deducted from +// a map format, the order of points is recommended to be in line with the +// road coordinate (e.g. s-coordinate in OpenDRIVE). +// +// \attention The points describing the surface line might be set at +// arbitrary distances. This allowes to model certain height changes along the +// lane like speed bumps etc. more detailed while still allow very few points +// at parts of the lane where height does not change much. +// +// \note The surface line is the line that describes the height profile +// along the lane. Multiple surface lines can be used to create a certain road shape +// if needed. The simplest case would be no surface line for a flat road, since the +// lane boundaries can be used in this case. +// +// \attention If more than one surface line exists, they are not allowed to cross each other +// or the lane boundaries, otherwise you could have conflicting height information at these points. +// +// Up for discussion: SurfaceLines can be in the same x/y coordinates with different z values +// in order to model vertical surfaces like curbstones + +message SurfaceLine +{ + // The ID of the surface line. + // Example: sl1 (see reference picture SurfaceLines). + // + // \note Note ID is global unique. + // + // \rules + // is_globally_unique + // \endrules + // + optional Identifier id = 1; + + // points making up the surfaceline + // The surfaceline must be defined in the same direction as the reference + // line or lane boundaries, if no reference line is present. So S positions + // should increase along the line. Note that Spositions will not always + // increase strictly monotonically. + // + // If the surfaceline approximates a curve (e.g. a cubic function in + // OpenDRIVE), the points must be chosen in a way that the lateral distance + // to the ideal line does not exceed 5cm. As shown in the following image: + // + // \image html line_approximation_error.svg "Approximation error" + // Approximation error green line. + // + // The Z error (difference in Z height between surfaceline and the "real" + // line) must not exceed 2cm, since height gaps are more noticable. + // + // Note: if two lanes have different Z heights (e.g. a driving lane is + // beside a sidewalk, where the sidewalk is 10cm higher than the road), + // then these lanes cannot share a boundary, since their boundaries have + // different Z heights. + repeated SurfaceLinePoint surfaceline = 2; + + // Definition of the placement of the newly introduced surfaceline in the center of the lane. + // + // Defined and used for driving lanes. + // \c true means that the surface line is also the centerline of the lane4. + // + // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 + // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in + // image \ref HighwayExit . + // + // \note The \c #centerline is currently only defined for \c #type + // = \c #TYPE_DRIVING . + // + optional bool surfaceline_is_centerline = 3; + + // ID of the surfaceline that is directly adjacent to the + // surfaceline on the left side (w.r.t. ascending order of surfaceline points + // and lane boundary points/reference line). + // Up for discussion, if lengths of surfaceline segments are + // synchronized or not and therefore can contain multiple adjacent segments. + // + // \note If none or just one surfaceline is present, this should be empty. + // + // \note If this surfaceline is neighboring the left LaneBoundary or LogicalLaneBoundary, + // should this field be empty? Other proposal would be a surfaceline would have to + // be placed also on every boundary, which may impose inconsistencies between surface + // represenation by surfacelines and boundaries + // + // \proposal In order to model curb stones more accurately, there could be + // two surfacelines with different z-values on top of each other. This would + // impose curbstones to shift from a lane boundary to a lane type. + // Must be discussed if the upper one is the "most left" surfaceline or + // if the driving lane "stops" at the lower surface line e.g lane boundary + // and the next lane just starts with the upper surface line / lane boundary. + // + optional Identifier left_adjacent_surfaceline_id = 4; + + // List of IDs of all surfaceline segments that are directly adjacent to the + // surfaceline on the right side (w.r.t. ascending order of surfaceline points + // and lane boundary points). Note that lengths of surfaceline segments are + // not synchronized and therefore can contain multiple adjacent segments. + // + // \note If none or just one surfaceline is present, this should be empty. + // + // \note If this surfaceline is neighboring the right LaneBoundary or LogicalLaneBoundary, + // should this field be empty? Same proposal as for left_adjacent_surfaceline_id + // + optional Identifier right_adjacent_surfaceline_id = 5; + + // if no surfaceline is placed at each LaneBoundary/LogicalLaneBoundary + // we may need to have different fields for these too or in addition + // + // \note Needs to be discussed if these fields are always filled or just for + // the most left or right surface line, that is directly adjacent to the + // boundaries. + //optional LaneBoundary.Identifier left_lane_boundary_id = 6; + //optional LaneBoundary.Identifier left_lane_boundary_id = 7; + //optional LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 8; + //optional LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 9; + + // one point of the surface line + // + message SurfaceLinePoint { + + // The position of the \c SurfaceLinePoint. + // + optional Vector3d position = 1; + + // S position of the SurfaceLinePoint, measured along the parent's + // reference_line_id. + // + optional double s_position = 2; + + // T position of the SurfaceLinePoint, measured along the parent's + // reference_line_id. + // + optional double t_position = 3; + } +} From 30c8dac65819b554bbe50e7579361d76f9311e31 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 13 Dec 2021 00:29:17 +0100 Subject: [PATCH 176/219] Delete proto_surfaceline MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Deleted because wrong filename... Still contains the reference_line ID Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- proto_surfaceline | 172 ---------------------------------------------- 1 file changed, 172 deletions(-) delete mode 100644 proto_surfaceline diff --git a/proto_surfaceline b/proto_surfaceline deleted file mode 100644 index c739ec90d..000000000 --- a/proto_surfaceline +++ /dev/null @@ -1,172 +0,0 @@ -syntax = "proto2"; - -option optimize_for = SPEED; - -import "osi_common.proto"; -import "osi_lane.proto"; -import "osi_logicallane.proto"; - -package osi3; - -// A lane's surface line (as a list of segments). -// -// The surfaceline describes a height profile along the lane at a certain offset to the lane boundary. -// It is intended to replace the centerline as a physical representation of the lane. The use of the -// centerline for driving/steering inputs should rather be solved with a logical information, that is not -// mandatory based on the true center of the lane. -// -// \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px -// -// \note -// sl: surface line -// lb: lane boundary -// -// \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px -// -// \attention The points desribing the surface line must be set in the -// same ordering (ascending or descending) as the points desribing the -// lane boundaries or reference line. Example: If the points are deducted from -// a map format, the order of points is recommended to be in line with the -// road coordinate (e.g. s-coordinate in OpenDRIVE). -// -// \attention The points describing the surface line might be set at -// arbitrary distances. This allowes to model certain height changes along the -// lane like speed bumps etc. more detailed while still allow very few points -// at parts of the lane where height does not change much. -// -// \note The surface line is the line that describes the height profile -// along the lane. Multiple surface lines can be used to create a certain road shape -// if needed. The simplest case would be no surface line for a flat road, since the -// lane boundaries can be used in this case. -// -// \attention If more than one surface line exists, they are not allowed to cross each other -// or the lane boundaries, otherwise you could have conflicting height information at these points. -// -// Up for discussion: SurfaceLines can be in the same x/y coordinates with different z values -// in order to model vertical surfaces like curbstones - -message SurfaceLine -{ - // The ID of the surface line. - // Example: sl1 (see reference picture SurfaceLines). - // - // \note Note ID is global unique. - // - // \rules - // is_globally_unique - // \endrules - // - optional Identifier id = 1; - - // points making up the surfaceline - // The surfaceline must be defined in the same direction as the reference - // line or lane boundaries, if no reference line is present. So S positions - // should increase along the line. Note that Spositions will not always - // increase strictly monotonically. - // - // If the surfaceline approximates a curve (e.g. a cubic function in - // OpenDRIVE), the points must be chosen in a way that the lateral distance - // to the ideal line does not exceed 5cm. As shown in the following image: - // - // \image html line_approximation_error.svg "Approximation error" - // Approximation error green line. - // - // The Z error (difference in Z height between surfaceline and the "real" - // line) must not exceed 2cm, since height gaps are more noticable. - // - // Note: if two lanes have different Z heights (e.g. a driving lane is - // beside a sidewalk, where the sidewalk is 10cm higher than the road), - // then these lanes cannot share a boundary, since their boundaries have - // different Z heights. - repeated SurfaceLinePoint surfaceline = 2; - - // The reference line for this surfaceline. - // - // The reference line is used as a coordinate system for this surfaceline. - // All points of this SurfaceLine must have S coordinates in the - // range [sStart,sEnd]. - // - // The reference line should roughly have the same shape as the surfaceline, so - // that S coordinates continually increase along the lane. - // - // question: is this the "right" technical way to reference the id? - optional ReferenceLine.Identifier reference_line_id = 3; - - // Definition of the placement of the newly introduced surfaceline in the center of the lane. - // - // Defined and used for driving lanes. - // \c true means that the surface line is also the centerline of the lane4. - // - // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 - // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in - // image \ref HighwayExit . - // - // \note The \c #centerline is currently only defined for \c #type - // = \c #TYPE_DRIVING . - // - optional bool surfaceline_is_centerline = 3; - - // List of IDs of all surfaceline segments that are directly adjacent to the - // surfaceline on the left side (w.r.t. ascending order of surfaceline points - // and lane boundary points/reference line). - // Up for discussion, if lengths of surfaceline segments are - // synchronized or not and therefore can contain multiple adjacent segments. - // - // \note If none or just one surfaceline is present, this should be empty. - // - // \note If this surfaceline is neighboring the left LaneBoundary or LogicalLaneBoundary, - // should this field be empty? Other proposal would be a surfaceline would have to - // be placed also on every boundary, which may impose inconsistencies between surface - // represenation by surfacelines and boundaries - // - // \proposal In order to model curb stones more accurately, there could be - // two surfacelines with different z-values on top of each other. This would - // impose curbstones to shift from a lane boundary to a lane type. - // Must be discussed if the upper one is the "most left" surfaceline or - // if the driving lane "stops" at the lower surface line e.g lane boundary - // and the next lane just starts with the upper surface line / lane boundary. - // - repeated Identifier left_adjacent_surfaceline_id = 4; - - // List of IDs of all surfaceline segments that are directly adjacent to the - // surfaceline on the right side (w.r.t. ascending order of surfaceline points - // and lane boundary points). Note that lengths of surfaceline segments are - // not synchronized and therefore can contain multiple adjacent segments. - // - // \note If none or just one surfaceline is present, this should be empty. - // - // \note If this surfaceline is neighboring the right LaneBoundary or LogicalLaneBoundary, - // should this field be empty? Same proposal as for left_adjacent_surfaceline_id - // - repeated Identifier right_adjacent_surfaceline_id = 5; - - // if no surfaceline is placed at each LaneBoundary/LogicalLaneBoundary - // we may need to have different fields for these too or in addition - // - // \note Needs to be discussed if these fields are always filled or just for - // the most left or right surface line, that is directly adjacent to the - // boundaries. - repeated LaneBoundary.Identifier left_lane_boundary_id = 6; - repeated LaneBoundary.Identifier left_lane_boundary_id = 7; - repeated LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 8; - repeated LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 9; - - // one point of the surface line - // - message SurfaceLinePoint { - - // The position of the \c SurfaceLinePoint. - // - optional Vector3d position = 1; - - // S position of the SurfaceLinePoint, measured along the parent's - // reference_line_id. - // - optional double s_position = 2; - - // T position of the SurfaceLinePoint, measured along the parent's - // reference_line_id. - // - optional double t_position = 3; - } -} From e78e56c831fa1655abcd948ca4abe235e3bba496 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 13 Dec 2021 00:44:26 +0100 Subject: [PATCH 177/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index 7b1e73fbc..9be5e448d 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -147,12 +147,12 @@ message SurfaceLine // optional Vector3d position = 1; - // S position of the SurfaceLinePoint, measured along the parent's + // S position of the SurfaceLinePoint, measured along the logical lane's // reference_line_id. // optional double s_position = 2; - // T position of the SurfaceLinePoint, measured along the parent's + // T position of the SurfaceLinePoint, measured along the logical lane's // reference_line_id. // optional double t_position = 3; From cb6e9169b12fdbbe838d42bfff6992916973981f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 24 Jan 2022 08:58:16 +0100 Subject: [PATCH 178/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Adjusted explanations and clean up Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 89 +++++++++++++------------------------------ 1 file changed, 27 insertions(+), 62 deletions(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index 9be5e448d..829c517c2 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -10,8 +10,8 @@ package osi3; // A lane's surface line (as a list of segments). // -// The surfaceline describes a height profile along the lane at a certain offset to the lane boundary. -// It is intended to replace the centerline as a physical representation of the lane. The use of the +// The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary. +// It is also intended to replace the centerline as a physical representation of the lane. The use of the // centerline for driving/steering inputs should rather be solved with a logical information, that is not // mandatory based on the true center of the lane. // @@ -25,7 +25,7 @@ package osi3; // // \attention The points desribing the surface line must be set in the // same ordering (ascending or descending) as the points desribing the -// lane boundaries or reference line. Example: If the points are deducted from +// lane boundaries or lane. Example: If the points are deducted from // a map format, the order of points is recommended to be in line with the // road coordinate (e.g. s-coordinate in OpenDRIVE). // @@ -36,14 +36,14 @@ package osi3; // // \note The surface line is the line that describes the height profile // along the lane. Multiple surface lines can be used to create a certain road shape -// if needed. The simplest case would be no surface line for a flat road, since the -// lane boundaries can be used in this case. +// if needed. +// Up for discusssion: Should a flat road consist of no surface line, since the +// lane boundaries can be used in this case. Other option would be a mandatory surfaceline +// at each LaneBoundary, in simple flat roads it will consist of just 2 points. // // \attention If more than one surface line exists, they are not allowed to cross each other // or the lane boundaries, otherwise you could have conflicting height information at these points. // -// Up for discussion: SurfaceLines can be in the same x/y coordinates with different z values -// in order to model vertical surfaces like curbstones message SurfaceLine { @@ -59,10 +59,8 @@ message SurfaceLine optional Identifier id = 1; // points making up the surfaceline - // The surfaceline must be defined in the same direction as the reference - // line or lane boundaries, if no reference line is present. So S positions - // should increase along the line. Note that Spositions will not always - // increase strictly monotonically. + // The surfaceline must be defined in the same direction as the + // lane or lane boundaries. // // If the surfaceline approximates a curve (e.g. a cubic function in // OpenDRIVE), the points must be chosen in a way that the lateral distance @@ -74,10 +72,6 @@ message SurfaceLine // The Z error (difference in Z height between surfaceline and the "real" // line) must not exceed 2cm, since height gaps are more noticable. // - // Note: if two lanes have different Z heights (e.g. a driving lane is - // beside a sidewalk, where the sidewalk is 10cm higher than the road), - // then these lanes cannot share a boundary, since their boundaries have - // different Z heights. repeated SurfaceLinePoint surfaceline = 2; // Definition of the placement of the newly introduced surfaceline in the center of the lane. @@ -94,67 +88,38 @@ message SurfaceLine // optional bool surfaceline_is_centerline = 3; - // ID of the surfaceline that is directly adjacent to the - // surfaceline on the left side (w.r.t. ascending order of surfaceline points - // and lane boundary points/reference line). - // Up for discussion, if lengths of surfaceline segments are - // synchronized or not and therefore can contain multiple adjacent segments. + // ID of the surfaceline that is directly adjacent to the surfaceline on + // the left side (w.r.t. ascending order of surfaceline points + // and lane boundary points). // - // \note If none or just one surfaceline is present, this should be empty. - // - // \note If this surfaceline is neighboring the left LaneBoundary or LogicalLaneBoundary, - // should this field be empty? Other proposal would be a surfaceline would have to - // be placed also on every boundary, which may impose inconsistencies between surface - // represenation by surfacelines and boundaries + // \note If there is no left adjacent surface line, this will mean its located at the + // left LaneBoundary. // - // \proposal In order to model curb stones more accurately, there could be - // two surfacelines with different z-values on top of each other. This would - // impose curbstones to shift from a lane boundary to a lane type. - // Must be discussed if the upper one is the "most left" surfaceline or - // if the driving lane "stops" at the lower surface line e.g lane boundary - // and the next lane just starts with the upper surface line / lane boundary. + // \proposal In order to model curb stones, one surface line will be placed at the lower edge + // of the curb that belongs to the border lane/driving lane and another one on the upper edge + // that will belong to the sidewalk + // (see https://github.com/OpenSimulationInterface/open-simulation-interface/pull/608) // optional Identifier left_adjacent_surfaceline_id = 4; - // List of IDs of all surfaceline segments that are directly adjacent to the + // ID of the surfaceline that are directly adjacent to the // surfaceline on the right side (w.r.t. ascending order of surfaceline points - // and lane boundary points). Note that lengths of surfaceline segments are - // not synchronized and therefore can contain multiple adjacent segments. - // - // \note If none or just one surfaceline is present, this should be empty. - // - // \note If this surfaceline is neighboring the right LaneBoundary or LogicalLaneBoundary, - // should this field be empty? Same proposal as for left_adjacent_surfaceline_id + // and lane boundary points). // + // \note If there is no right adjacent surface line, this will mean its located at the + // right LaneBoundary + // optional Identifier right_adjacent_surfaceline_id = 5; - // if no surfaceline is placed at each LaneBoundary/LogicalLaneBoundary - // we may need to have different fields for these too or in addition - // - // \note Needs to be discussed if these fields are always filled or just for - // the most left or right surface line, that is directly adjacent to the - // boundaries. - //optional LaneBoundary.Identifier left_lane_boundary_id = 6; - //optional LaneBoundary.Identifier left_lane_boundary_id = 7; - //optional LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 8; - //optional LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 9; + // \note Needs to be discussed if we reference the most left surfaceline + // to the left LaneBoundary id or just state that it is at the boundary. + //optional LaneBoundary.Identifier is_left_lane_boundary_id = 6; + //optional LaneBoundary.Identifier is_right_lane_boundary_id = 7; - // one point of the surface line - // message SurfaceLinePoint { // The position of the \c SurfaceLinePoint. // optional Vector3d position = 1; - - // S position of the SurfaceLinePoint, measured along the logical lane's - // reference_line_id. - // - optional double s_position = 2; - - // T position of the SurfaceLinePoint, measured along the logical lane's - // reference_line_id. - // - optional double t_position = 3; } } From 7393cd6b855bd6c0cfab0a5ac73fdd6165f343c7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 24 Jan 2022 11:35:09 +0100 Subject: [PATCH 179/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index 829c517c2..002b930f2 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -111,10 +111,11 @@ message SurfaceLine // optional Identifier right_adjacent_surfaceline_id = 5; - // \note Needs to be discussed if we reference the most left surfaceline - // to the left LaneBoundary id or just state that it is at the boundary. - //optional LaneBoundary.Identifier is_left_lane_boundary_id = 6; - //optional LaneBoundary.Identifier is_right_lane_boundary_id = 7; + // \note If this surface line is located at the left/right + // LaneBoundary we reference the appropriate id and can use + // the information about the points + optional LaneBoundary.Identifier is_left_lane_boundary_id = 6; + optional LaneBoundary.Identifier is_right_lane_boundary_id = 7; message SurfaceLinePoint { From 79fccb53397ecc84426b5b93c236fd44c7b789b3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 31 Jan 2022 09:29:28 +0100 Subject: [PATCH 180/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Added sections to change the number of surface lines Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 36 ++++++++++++++++++++++++++++++++++-- 1 file changed, 34 insertions(+), 2 deletions(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index 002b930f2..b766abb0a 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -77,7 +77,7 @@ message SurfaceLine // Definition of the placement of the newly introduced surfaceline in the center of the lane. // // Defined and used for driving lanes. - // \c true means that the surface line is also the centerline of the lane4. + // \c true means that the surface line is also the centerline of the lane. // // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in @@ -117,10 +117,42 @@ message SurfaceLine optional LaneBoundary.Identifier is_left_lane_boundary_id = 6; optional LaneBoundary.Identifier is_right_lane_boundary_id = 7; - message SurfaceLinePoint { + // Id of the corresponding lane that this surface line belongs to + optional Lane.Identifier lane = 8; + message SurfaceLinePoint { + // The position of the \c SurfaceLinePoint. // optional Vector3d position = 1; } + + // In order to be able to increase/decrease the accuracy or detail of the surface description + // by adding more surfacelines for a certain part of a lane, the corresponding + // surfacelines are grouped in sections. Whenever a different number of surfacelines is needed + // along the course of the lane, a new section is introduced + // + // Example: + // + // < sls_1 >|< sls_2 >|< sls_3 >| + // |--------- sl_1 ------------|---------- sl_3 ----------|----------- ls_6 ----------| + // | | |----------- ls_7 ----------| + // | |---------- sl_4 ----------|----------- ls_8 ----------| + // | | |----------- ls_9 ----------| + // |--------- sl_2 ------------|---------- sl_5 ----------|----------- ls_10 ---------| + message SurfaceLineSection { + // Id of the corresponding lane that this section belongs to + optional Lane.Identifier lane = 1; + + // Sections are indexed in increasing order along the lane direction. + // That way we have an automatic successor/predecessor for faster access + optional Identifier sectionindex = 2; + + // Each section contains a list of the included surfacelines + repeated SurfaceLine surfacelines = 3; + + } + } + + From 2b1088a509ee556505032f8bf92442af20197aed Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 31 Jan 2022 09:56:41 +0100 Subject: [PATCH 181/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 1 - 1 file changed, 1 deletion(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index b766abb0a..cba1ad656 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -4,7 +4,6 @@ option optimize_for = SPEED; import "osi_common.proto"; import "osi_lane.proto"; -import "osi_logicallane.proto"; package osi3; From 352f3cfcde5819135be04e0b4a2899c9db827638 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 31 Jan 2022 11:57:30 +0100 Subject: [PATCH 182/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 21 ++++++++++++++++----- 1 file changed, 16 insertions(+), 5 deletions(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index cba1ad656..99ec4aa33 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -43,7 +43,6 @@ package osi3; // \attention If more than one surface line exists, they are not allowed to cross each other // or the lane boundaries, otherwise you could have conflicting height information at these points. // - message SurfaceLine { // The ID of the surface line. @@ -110,15 +109,24 @@ message SurfaceLine // optional Identifier right_adjacent_surfaceline_id = 5; - // \note If this surface line is located at the left/right + // \note If this surface line is located at the left // LaneBoundary we reference the appropriate id and can use // the information about the points + // optional LaneBoundary.Identifier is_left_lane_boundary_id = 6; + + // \note If this surface line is located at the right + // LaneBoundary we reference the appropriate id and can use + // the information about the points + // optional LaneBoundary.Identifier is_right_lane_boundary_id = 7; // Id of the corresponding lane that this surface line belongs to + // optional Lane.Identifier lane = 8; + // Definition of the points that make up a surface line + // message SurfaceLinePoint { // The position of the \c SurfaceLinePoint. @@ -139,19 +147,22 @@ message SurfaceLine // | |---------- sl_4 ----------|----------- ls_8 ----------| // | | |----------- ls_9 ----------| // |--------- sl_2 ------------|---------- sl_5 ----------|----------- ls_10 ---------| + // message SurfaceLineSection { + // Id of the corresponding lane that this section belongs to + // optional Lane.Identifier lane = 1; // Sections are indexed in increasing order along the lane direction. // That way we have an automatic successor/predecessor for faster access + // optional Identifier sectionindex = 2; // Each section contains a list of the included surfacelines - repeated SurfaceLine surfacelines = 3; - + // + repeated SurfaceLine surfacelines = 3; } - } From 65e70458f28a972823b03032cc8547e4aecf3497 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 31 Jan 2022 12:27:00 +0100 Subject: [PATCH 183/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index 99ec4aa33..c298c457b 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -81,8 +81,9 @@ message SurfaceLine // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in // image \ref HighwayExit . // - // \note The \c #centerline is currently only defined for \c #type - // = \c #TYPE_DRIVING . + // \note The \c #centerline is defined only for \c #type = + // \c #TYPE_DRIVING and if exactly one or no \c #lane_pairing pair + // exists. // optional bool surfaceline_is_centerline = 3; From 9d3dff7802f632102cdb3cf89b9da738a490a7ce Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Fri, 17 Sep 2021 15:14:48 +0200 Subject: [PATCH 184/219] Update osi_lane.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit First update for surfacelines Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 18 ++++++++++++------ 1 file changed, 12 insertions(+), 6 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index a5634b304..1b2c16647 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -238,27 +238,33 @@ message Lane // A vehicle must calculate this individually and depending on the // situation. // +<<<<<<< HEAD // \note Should be deprectated in favor of SurfaceLine // repeated Vector3d centerline = 3; +======= + repeated Vector3d surfaceline = 3; +>>>>>>> Update osi_lane.proto - // Definition of the intended driving direction. + // Definition of the placement of the newly introduced surfaceline in the center of the lane. // // Defined and used for driving lanes. - // \c true means driving direction is according to ascending storage - // order of center line points. \c false means driving direction is - // according to descending storage order of center line points. + // \c true means that the surface line is also the centerline of the lane4. // - // Example: \c #centerline_is_driving_direction = \c true for lane l4 - // and \c #centerline_is_driving_direction = \c false for lane l2 in + // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 + // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in // image \ref HighwayExit . // // \note The \c #centerline_is_driving_direction is defined for \c #type // = \c #TYPE_DRIVING . // +<<<<<<< HEAD // \note Should be deprectated in favor of SurfaceLine // optional bool centerline_is_driving_direction = 4; +======= + optional bool surfaceline_is_centerline = 4; +>>>>>>> Update osi_lane.proto // List of IDs of all lane segments that are directly adjacent to the // lane on the left side (w.r.t. ascending order of centerline points From d133502073e3a300ff46d234875bd78a64506f48 Mon Sep 17 00:00:00 2001 From: pasched <patrick.schedlbauer@parson-europe.com> Date: Wed, 27 Oct 2021 09:27:14 +0200 Subject: [PATCH 185/219] docs: exclude versioning.adoc in map, moved to osi-documentation MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: pasched <patrick.schedlbauer@parson-europe.com> Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/open-simulation-interface_user_guide.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 6c25b9440..d26d32609 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -121,7 +121,7 @@ include::./misc/osi_reference.adoc[leveloffset=+1] //// == Releases -include::./releases/versioning.adoc[leveloffset=+2] +//include::./releases/versioning.adoc[leveloffset=+2] include::./releases/releases.adoc[leveloffset=+2] From fa927318742a5494057d6d8ffeedc8169c35a517 Mon Sep 17 00:00:00 2001 From: pasched <patrick.schedlbauer@parson-europe.com> Date: Wed, 27 Oct 2021 09:49:35 +0200 Subject: [PATCH 186/219] docs: excluded release notes MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: pasched <patrick.schedlbauer@parson-europe.com> Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/open-simulation-interface_user_guide.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index d26d32609..6c25b9440 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -121,7 +121,7 @@ include::./misc/osi_reference.adoc[leveloffset=+1] //// == Releases -//include::./releases/versioning.adoc[leveloffset=+2] +include::./releases/versioning.adoc[leveloffset=+2] include::./releases/releases.adoc[leveloffset=+2] From 876d45aa933b6be9169f010f64883aed1e3fe8a2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Sun, 21 Nov 2021 22:24:16 +0100 Subject: [PATCH 187/219] Update osi_lane.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Added road shape profile picture Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/osi_lane.proto b/osi_lane.proto index 1b2c16647..660c1ff4a 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -208,7 +208,13 @@ message Lane // cl: center line // lb: lane boundary // +<<<<<<< HEAD // \attention The points desribing the center line must be set in the +======= + // \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px + // + // \attention The points desribing the surface line must be set in the +>>>>>>> Update osi_lane.proto // same ordering (ascending or descending) as the points desribing the // lane boundaries. Example: If the points are deducted from a map format, // the order of points is recommended to be in line with the road coordinate From b0a99ad9bbbbff66b70c275bdf5d8b3171d4b0a1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Sun, 12 Dec 2021 23:51:32 +0100 Subject: [PATCH 188/219] Create proto_surfaceline MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit New message for SurfaceLine with proposal values for both Lanes and LogicalLanes Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- proto_surfaceline | 172 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 172 insertions(+) create mode 100644 proto_surfaceline diff --git a/proto_surfaceline b/proto_surfaceline new file mode 100644 index 000000000..c739ec90d --- /dev/null +++ b/proto_surfaceline @@ -0,0 +1,172 @@ +syntax = "proto2"; + +option optimize_for = SPEED; + +import "osi_common.proto"; +import "osi_lane.proto"; +import "osi_logicallane.proto"; + +package osi3; + +// A lane's surface line (as a list of segments). +// +// The surfaceline describes a height profile along the lane at a certain offset to the lane boundary. +// It is intended to replace the centerline as a physical representation of the lane. The use of the +// centerline for driving/steering inputs should rather be solved with a logical information, that is not +// mandatory based on the true center of the lane. +// +// \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px +// +// \note +// sl: surface line +// lb: lane boundary +// +// \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px +// +// \attention The points desribing the surface line must be set in the +// same ordering (ascending or descending) as the points desribing the +// lane boundaries or reference line. Example: If the points are deducted from +// a map format, the order of points is recommended to be in line with the +// road coordinate (e.g. s-coordinate in OpenDRIVE). +// +// \attention The points describing the surface line might be set at +// arbitrary distances. This allowes to model certain height changes along the +// lane like speed bumps etc. more detailed while still allow very few points +// at parts of the lane where height does not change much. +// +// \note The surface line is the line that describes the height profile +// along the lane. Multiple surface lines can be used to create a certain road shape +// if needed. The simplest case would be no surface line for a flat road, since the +// lane boundaries can be used in this case. +// +// \attention If more than one surface line exists, they are not allowed to cross each other +// or the lane boundaries, otherwise you could have conflicting height information at these points. +// +// Up for discussion: SurfaceLines can be in the same x/y coordinates with different z values +// in order to model vertical surfaces like curbstones + +message SurfaceLine +{ + // The ID of the surface line. + // Example: sl1 (see reference picture SurfaceLines). + // + // \note Note ID is global unique. + // + // \rules + // is_globally_unique + // \endrules + // + optional Identifier id = 1; + + // points making up the surfaceline + // The surfaceline must be defined in the same direction as the reference + // line or lane boundaries, if no reference line is present. So S positions + // should increase along the line. Note that Spositions will not always + // increase strictly monotonically. + // + // If the surfaceline approximates a curve (e.g. a cubic function in + // OpenDRIVE), the points must be chosen in a way that the lateral distance + // to the ideal line does not exceed 5cm. As shown in the following image: + // + // \image html line_approximation_error.svg "Approximation error" + // Approximation error green line. + // + // The Z error (difference in Z height between surfaceline and the "real" + // line) must not exceed 2cm, since height gaps are more noticable. + // + // Note: if two lanes have different Z heights (e.g. a driving lane is + // beside a sidewalk, where the sidewalk is 10cm higher than the road), + // then these lanes cannot share a boundary, since their boundaries have + // different Z heights. + repeated SurfaceLinePoint surfaceline = 2; + + // The reference line for this surfaceline. + // + // The reference line is used as a coordinate system for this surfaceline. + // All points of this SurfaceLine must have S coordinates in the + // range [sStart,sEnd]. + // + // The reference line should roughly have the same shape as the surfaceline, so + // that S coordinates continually increase along the lane. + // + // question: is this the "right" technical way to reference the id? + optional ReferenceLine.Identifier reference_line_id = 3; + + // Definition of the placement of the newly introduced surfaceline in the center of the lane. + // + // Defined and used for driving lanes. + // \c true means that the surface line is also the centerline of the lane4. + // + // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 + // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in + // image \ref HighwayExit . + // + // \note The \c #centerline is currently only defined for \c #type + // = \c #TYPE_DRIVING . + // + optional bool surfaceline_is_centerline = 3; + + // List of IDs of all surfaceline segments that are directly adjacent to the + // surfaceline on the left side (w.r.t. ascending order of surfaceline points + // and lane boundary points/reference line). + // Up for discussion, if lengths of surfaceline segments are + // synchronized or not and therefore can contain multiple adjacent segments. + // + // \note If none or just one surfaceline is present, this should be empty. + // + // \note If this surfaceline is neighboring the left LaneBoundary or LogicalLaneBoundary, + // should this field be empty? Other proposal would be a surfaceline would have to + // be placed also on every boundary, which may impose inconsistencies between surface + // represenation by surfacelines and boundaries + // + // \proposal In order to model curb stones more accurately, there could be + // two surfacelines with different z-values on top of each other. This would + // impose curbstones to shift from a lane boundary to a lane type. + // Must be discussed if the upper one is the "most left" surfaceline or + // if the driving lane "stops" at the lower surface line e.g lane boundary + // and the next lane just starts with the upper surface line / lane boundary. + // + repeated Identifier left_adjacent_surfaceline_id = 4; + + // List of IDs of all surfaceline segments that are directly adjacent to the + // surfaceline on the right side (w.r.t. ascending order of surfaceline points + // and lane boundary points). Note that lengths of surfaceline segments are + // not synchronized and therefore can contain multiple adjacent segments. + // + // \note If none or just one surfaceline is present, this should be empty. + // + // \note If this surfaceline is neighboring the right LaneBoundary or LogicalLaneBoundary, + // should this field be empty? Same proposal as for left_adjacent_surfaceline_id + // + repeated Identifier right_adjacent_surfaceline_id = 5; + + // if no surfaceline is placed at each LaneBoundary/LogicalLaneBoundary + // we may need to have different fields for these too or in addition + // + // \note Needs to be discussed if these fields are always filled or just for + // the most left or right surface line, that is directly adjacent to the + // boundaries. + repeated LaneBoundary.Identifier left_lane_boundary_id = 6; + repeated LaneBoundary.Identifier left_lane_boundary_id = 7; + repeated LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 8; + repeated LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 9; + + // one point of the surface line + // + message SurfaceLinePoint { + + // The position of the \c SurfaceLinePoint. + // + optional Vector3d position = 1; + + // S position of the SurfaceLinePoint, measured along the parent's + // reference_line_id. + // + optional double s_position = 2; + + // T position of the SurfaceLinePoint, measured along the parent's + // reference_line_id. + // + optional double t_position = 3; + } +} From 00c32523ed8a60b4ed39a099413984d735406932 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Sun, 12 Dec 2021 23:57:34 +0100 Subject: [PATCH 189/219] Update osi_lane.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Removed surfaceline additions, since they have a seperate message now Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 27 +++++++++++++++++++++++---- 1 file changed, 23 insertions(+), 4 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index 660c1ff4a..c3e2d16e5 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -208,12 +208,16 @@ message Lane // cl: center line // lb: lane boundary // +<<<<<<< HEAD <<<<<<< HEAD // \attention The points desribing the center line must be set in the ======= // \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px // // \attention The points desribing the surface line must be set in the +>>>>>>> Update osi_lane.proto +======= + // \attention The points desribing the center line must be set in the >>>>>>> Update osi_lane.proto // same ordering (ascending or descending) as the points desribing the // lane boundaries. Example: If the points are deducted from a map format, @@ -243,6 +247,7 @@ message Lane // \note Intersections and non-driving lanes do not have a center line. // A vehicle must calculate this individually and depending on the // situation. +<<<<<<< HEAD // <<<<<<< HEAD // \note Should be deprectated in favor of SurfaceLine @@ -251,19 +256,28 @@ message Lane ======= repeated Vector3d surfaceline = 3; >>>>>>> Update osi_lane.proto +======= + // + // \note Should be deprectated in favor of SurfaceLine + // + repeated Vector3d centerline = 3; +>>>>>>> Update osi_lane.proto - // Definition of the placement of the newly introduced surfaceline in the center of the lane. + // Definition of the intended driving direction. // // Defined and used for driving lanes. - // \c true means that the surface line is also the centerline of the lane4. + // \c true means driving direction is according to ascending storage + // order of center line points. \c false means driving direction is + // according to descending storage order of center line points. // - // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 - // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in + // Example: \c #centerline_is_driving_direction = \c true for lane l4 + // and \c #centerline_is_driving_direction = \c false for lane l2 in // image \ref HighwayExit . // // \note The \c #centerline_is_driving_direction is defined for \c #type // = \c #TYPE_DRIVING . // +<<<<<<< HEAD <<<<<<< HEAD // \note Should be deprectated in favor of SurfaceLine // @@ -271,6 +285,11 @@ message Lane ======= optional bool surfaceline_is_centerline = 4; >>>>>>> Update osi_lane.proto +======= + // \note Should be deprectated in favor of SurfaceLine + // + optional bool centerline_is_driving_direction = 4; +>>>>>>> Update osi_lane.proto // List of IDs of all lane segments that are directly adjacent to the // lane on the left side (w.r.t. ascending order of centerline points From ded7a431135dd48f43bd0ea4df91c3e53be0a237 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 13 Dec 2021 00:28:31 +0100 Subject: [PATCH 190/219] Create osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit New message SurfaceLine that can be used in Lane and LogicalLane Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 114 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 114 insertions(+) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index c298c457b..1f5c6d103 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -4,13 +4,22 @@ option optimize_for = SPEED; import "osi_common.proto"; import "osi_lane.proto"; +<<<<<<< HEAD +======= +import "osi_logicallane.proto"; +>>>>>>> Create osi_surfaceline.proto package osi3; // A lane's surface line (as a list of segments). // +<<<<<<< HEAD // The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary. // It is also intended to replace the centerline as a physical representation of the lane. The use of the +======= +// The surfaceline describes a height profile along the lane at a certain offset to the lane boundary. +// It is intended to replace the centerline as a physical representation of the lane. The use of the +>>>>>>> Create osi_surfaceline.proto // centerline for driving/steering inputs should rather be solved with a logical information, that is not // mandatory based on the true center of the lane. // @@ -24,7 +33,11 @@ package osi3; // // \attention The points desribing the surface line must be set in the // same ordering (ascending or descending) as the points desribing the +<<<<<<< HEAD // lane boundaries or lane. Example: If the points are deducted from +======= +// lane boundaries or reference line. Example: If the points are deducted from +>>>>>>> Create osi_surfaceline.proto // a map format, the order of points is recommended to be in line with the // road coordinate (e.g. s-coordinate in OpenDRIVE). // @@ -35,14 +48,25 @@ package osi3; // // \note The surface line is the line that describes the height profile // along the lane. Multiple surface lines can be used to create a certain road shape +<<<<<<< HEAD // if needed. // Up for discusssion: Should a flat road consist of no surface line, since the // lane boundaries can be used in this case. Other option would be a mandatory surfaceline // at each LaneBoundary, in simple flat roads it will consist of just 2 points. +======= +// if needed. The simplest case would be no surface line for a flat road, since the +// lane boundaries can be used in this case. +>>>>>>> Create osi_surfaceline.proto // // \attention If more than one surface line exists, they are not allowed to cross each other // or the lane boundaries, otherwise you could have conflicting height information at these points. // +<<<<<<< HEAD +======= +// Up for discussion: SurfaceLines can be in the same x/y coordinates with different z values +// in order to model vertical surfaces like curbstones + +>>>>>>> Create osi_surfaceline.proto message SurfaceLine { // The ID of the surface line. @@ -57,8 +81,15 @@ message SurfaceLine optional Identifier id = 1; // points making up the surfaceline +<<<<<<< HEAD // The surfaceline must be defined in the same direction as the // lane or lane boundaries. +======= + // The surfaceline must be defined in the same direction as the reference + // line or lane boundaries, if no reference line is present. So S positions + // should increase along the line. Note that Spositions will not always + // increase strictly monotonically. +>>>>>>> Create osi_surfaceline.proto // // If the surfaceline approximates a curve (e.g. a cubic function in // OpenDRIVE), the points must be chosen in a way that the lateral distance @@ -70,17 +101,29 @@ message SurfaceLine // The Z error (difference in Z height between surfaceline and the "real" // line) must not exceed 2cm, since height gaps are more noticable. // +<<<<<<< HEAD +======= + // Note: if two lanes have different Z heights (e.g. a driving lane is + // beside a sidewalk, where the sidewalk is 10cm higher than the road), + // then these lanes cannot share a boundary, since their boundaries have + // different Z heights. +>>>>>>> Create osi_surfaceline.proto repeated SurfaceLinePoint surfaceline = 2; // Definition of the placement of the newly introduced surfaceline in the center of the lane. // // Defined and used for driving lanes. +<<<<<<< HEAD // \c true means that the surface line is also the centerline of the lane. +======= + // \c true means that the surface line is also the centerline of the lane4. +>>>>>>> Create osi_surfaceline.proto // // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in // image \ref HighwayExit . // +<<<<<<< HEAD // \note The \c #centerline is defined only for \c #type = // \c #TYPE_DRIVING and if exactly one or no \c #lane_pairing pair // exists. @@ -167,3 +210,74 @@ message SurfaceLine } +======= + // \note The \c #centerline is currently only defined for \c #type + // = \c #TYPE_DRIVING . + // + optional bool surfaceline_is_centerline = 3; + + // ID of the surfaceline that is directly adjacent to the + // surfaceline on the left side (w.r.t. ascending order of surfaceline points + // and lane boundary points/reference line). + // Up for discussion, if lengths of surfaceline segments are + // synchronized or not and therefore can contain multiple adjacent segments. + // + // \note If none or just one surfaceline is present, this should be empty. + // + // \note If this surfaceline is neighboring the left LaneBoundary or LogicalLaneBoundary, + // should this field be empty? Other proposal would be a surfaceline would have to + // be placed also on every boundary, which may impose inconsistencies between surface + // represenation by surfacelines and boundaries + // + // \proposal In order to model curb stones more accurately, there could be + // two surfacelines with different z-values on top of each other. This would + // impose curbstones to shift from a lane boundary to a lane type. + // Must be discussed if the upper one is the "most left" surfaceline or + // if the driving lane "stops" at the lower surface line e.g lane boundary + // and the next lane just starts with the upper surface line / lane boundary. + // + optional Identifier left_adjacent_surfaceline_id = 4; + + // List of IDs of all surfaceline segments that are directly adjacent to the + // surfaceline on the right side (w.r.t. ascending order of surfaceline points + // and lane boundary points). Note that lengths of surfaceline segments are + // not synchronized and therefore can contain multiple adjacent segments. + // + // \note If none or just one surfaceline is present, this should be empty. + // + // \note If this surfaceline is neighboring the right LaneBoundary or LogicalLaneBoundary, + // should this field be empty? Same proposal as for left_adjacent_surfaceline_id + // + optional Identifier right_adjacent_surfaceline_id = 5; + + // if no surfaceline is placed at each LaneBoundary/LogicalLaneBoundary + // we may need to have different fields for these too or in addition + // + // \note Needs to be discussed if these fields are always filled or just for + // the most left or right surface line, that is directly adjacent to the + // boundaries. + //optional LaneBoundary.Identifier left_lane_boundary_id = 6; + //optional LaneBoundary.Identifier left_lane_boundary_id = 7; + //optional LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 8; + //optional LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 9; + + // one point of the surface line + // + message SurfaceLinePoint { + + // The position of the \c SurfaceLinePoint. + // + optional Vector3d position = 1; + + // S position of the SurfaceLinePoint, measured along the parent's + // reference_line_id. + // + optional double s_position = 2; + + // T position of the SurfaceLinePoint, measured along the parent's + // reference_line_id. + // + optional double t_position = 3; + } +} +>>>>>>> Create osi_surfaceline.proto From 3785cb3cad42c2b12abc5f2172dc453f6b63a36e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 13 Dec 2021 00:29:17 +0100 Subject: [PATCH 191/219] Delete proto_surfaceline MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Deleted because wrong filename... Still contains the reference_line ID Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- proto_surfaceline | 172 ---------------------------------------------- 1 file changed, 172 deletions(-) delete mode 100644 proto_surfaceline diff --git a/proto_surfaceline b/proto_surfaceline deleted file mode 100644 index c739ec90d..000000000 --- a/proto_surfaceline +++ /dev/null @@ -1,172 +0,0 @@ -syntax = "proto2"; - -option optimize_for = SPEED; - -import "osi_common.proto"; -import "osi_lane.proto"; -import "osi_logicallane.proto"; - -package osi3; - -// A lane's surface line (as a list of segments). -// -// The surfaceline describes a height profile along the lane at a certain offset to the lane boundary. -// It is intended to replace the centerline as a physical representation of the lane. The use of the -// centerline for driving/steering inputs should rather be solved with a logical information, that is not -// mandatory based on the true center of the lane. -// -// \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px -// -// \note -// sl: surface line -// lb: lane boundary -// -// \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px -// -// \attention The points desribing the surface line must be set in the -// same ordering (ascending or descending) as the points desribing the -// lane boundaries or reference line. Example: If the points are deducted from -// a map format, the order of points is recommended to be in line with the -// road coordinate (e.g. s-coordinate in OpenDRIVE). -// -// \attention The points describing the surface line might be set at -// arbitrary distances. This allowes to model certain height changes along the -// lane like speed bumps etc. more detailed while still allow very few points -// at parts of the lane where height does not change much. -// -// \note The surface line is the line that describes the height profile -// along the lane. Multiple surface lines can be used to create a certain road shape -// if needed. The simplest case would be no surface line for a flat road, since the -// lane boundaries can be used in this case. -// -// \attention If more than one surface line exists, they are not allowed to cross each other -// or the lane boundaries, otherwise you could have conflicting height information at these points. -// -// Up for discussion: SurfaceLines can be in the same x/y coordinates with different z values -// in order to model vertical surfaces like curbstones - -message SurfaceLine -{ - // The ID of the surface line. - // Example: sl1 (see reference picture SurfaceLines). - // - // \note Note ID is global unique. - // - // \rules - // is_globally_unique - // \endrules - // - optional Identifier id = 1; - - // points making up the surfaceline - // The surfaceline must be defined in the same direction as the reference - // line or lane boundaries, if no reference line is present. So S positions - // should increase along the line. Note that Spositions will not always - // increase strictly monotonically. - // - // If the surfaceline approximates a curve (e.g. a cubic function in - // OpenDRIVE), the points must be chosen in a way that the lateral distance - // to the ideal line does not exceed 5cm. As shown in the following image: - // - // \image html line_approximation_error.svg "Approximation error" - // Approximation error green line. - // - // The Z error (difference in Z height between surfaceline and the "real" - // line) must not exceed 2cm, since height gaps are more noticable. - // - // Note: if two lanes have different Z heights (e.g. a driving lane is - // beside a sidewalk, where the sidewalk is 10cm higher than the road), - // then these lanes cannot share a boundary, since their boundaries have - // different Z heights. - repeated SurfaceLinePoint surfaceline = 2; - - // The reference line for this surfaceline. - // - // The reference line is used as a coordinate system for this surfaceline. - // All points of this SurfaceLine must have S coordinates in the - // range [sStart,sEnd]. - // - // The reference line should roughly have the same shape as the surfaceline, so - // that S coordinates continually increase along the lane. - // - // question: is this the "right" technical way to reference the id? - optional ReferenceLine.Identifier reference_line_id = 3; - - // Definition of the placement of the newly introduced surfaceline in the center of the lane. - // - // Defined and used for driving lanes. - // \c true means that the surface line is also the centerline of the lane4. - // - // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 - // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in - // image \ref HighwayExit . - // - // \note The \c #centerline is currently only defined for \c #type - // = \c #TYPE_DRIVING . - // - optional bool surfaceline_is_centerline = 3; - - // List of IDs of all surfaceline segments that are directly adjacent to the - // surfaceline on the left side (w.r.t. ascending order of surfaceline points - // and lane boundary points/reference line). - // Up for discussion, if lengths of surfaceline segments are - // synchronized or not and therefore can contain multiple adjacent segments. - // - // \note If none or just one surfaceline is present, this should be empty. - // - // \note If this surfaceline is neighboring the left LaneBoundary or LogicalLaneBoundary, - // should this field be empty? Other proposal would be a surfaceline would have to - // be placed also on every boundary, which may impose inconsistencies between surface - // represenation by surfacelines and boundaries - // - // \proposal In order to model curb stones more accurately, there could be - // two surfacelines with different z-values on top of each other. This would - // impose curbstones to shift from a lane boundary to a lane type. - // Must be discussed if the upper one is the "most left" surfaceline or - // if the driving lane "stops" at the lower surface line e.g lane boundary - // and the next lane just starts with the upper surface line / lane boundary. - // - repeated Identifier left_adjacent_surfaceline_id = 4; - - // List of IDs of all surfaceline segments that are directly adjacent to the - // surfaceline on the right side (w.r.t. ascending order of surfaceline points - // and lane boundary points). Note that lengths of surfaceline segments are - // not synchronized and therefore can contain multiple adjacent segments. - // - // \note If none or just one surfaceline is present, this should be empty. - // - // \note If this surfaceline is neighboring the right LaneBoundary or LogicalLaneBoundary, - // should this field be empty? Same proposal as for left_adjacent_surfaceline_id - // - repeated Identifier right_adjacent_surfaceline_id = 5; - - // if no surfaceline is placed at each LaneBoundary/LogicalLaneBoundary - // we may need to have different fields for these too or in addition - // - // \note Needs to be discussed if these fields are always filled or just for - // the most left or right surface line, that is directly adjacent to the - // boundaries. - repeated LaneBoundary.Identifier left_lane_boundary_id = 6; - repeated LaneBoundary.Identifier left_lane_boundary_id = 7; - repeated LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 8; - repeated LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 9; - - // one point of the surface line - // - message SurfaceLinePoint { - - // The position of the \c SurfaceLinePoint. - // - optional Vector3d position = 1; - - // S position of the SurfaceLinePoint, measured along the parent's - // reference_line_id. - // - optional double s_position = 2; - - // T position of the SurfaceLinePoint, measured along the parent's - // reference_line_id. - // - optional double t_position = 3; - } -} From 76165684aca2b2cb182c16327ccc53591579583b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 13 Dec 2021 00:44:26 +0100 Subject: [PATCH 192/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index 1f5c6d103..45571743a 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -269,12 +269,12 @@ message SurfaceLine // optional Vector3d position = 1; - // S position of the SurfaceLinePoint, measured along the parent's + // S position of the SurfaceLinePoint, measured along the logical lane's // reference_line_id. // optional double s_position = 2; - // T position of the SurfaceLinePoint, measured along the parent's + // T position of the SurfaceLinePoint, measured along the logical lane's // reference_line_id. // optional double t_position = 3; From 328c0b77489f182bb52df28a86398a5f923515b9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 24 Jan 2022 08:58:16 +0100 Subject: [PATCH 193/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Adjusted explanations and clean up Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 91 +++++++++++++++++++++---------------------- 1 file changed, 44 insertions(+), 47 deletions(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index 45571743a..91f96737f 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -14,12 +14,17 @@ package osi3; // A lane's surface line (as a list of segments). // <<<<<<< HEAD +<<<<<<< HEAD // The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary. // It is also intended to replace the centerline as a physical representation of the lane. The use of the ======= // The surfaceline describes a height profile along the lane at a certain offset to the lane boundary. // It is intended to replace the centerline as a physical representation of the lane. The use of the >>>>>>> Create osi_surfaceline.proto +======= +// The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary. +// It is also intended to replace the centerline as a physical representation of the lane. The use of the +>>>>>>> Update osi_surfaceline.proto // centerline for driving/steering inputs should rather be solved with a logical information, that is not // mandatory based on the true center of the lane. // @@ -34,10 +39,14 @@ package osi3; // \attention The points desribing the surface line must be set in the // same ordering (ascending or descending) as the points desribing the <<<<<<< HEAD +<<<<<<< HEAD // lane boundaries or lane. Example: If the points are deducted from ======= // lane boundaries or reference line. Example: If the points are deducted from >>>>>>> Create osi_surfaceline.proto +======= +// lane boundaries or lane. Example: If the points are deducted from +>>>>>>> Update osi_surfaceline.proto // a map format, the order of points is recommended to be in line with the // road coordinate (e.g. s-coordinate in OpenDRIVE). // @@ -49,22 +58,31 @@ package osi3; // \note The surface line is the line that describes the height profile // along the lane. Multiple surface lines can be used to create a certain road shape <<<<<<< HEAD +<<<<<<< HEAD +======= +>>>>>>> Update osi_surfaceline.proto // if needed. // Up for discusssion: Should a flat road consist of no surface line, since the // lane boundaries can be used in this case. Other option would be a mandatory surfaceline // at each LaneBoundary, in simple flat roads it will consist of just 2 points. +<<<<<<< HEAD ======= // if needed. The simplest case would be no surface line for a flat road, since the // lane boundaries can be used in this case. >>>>>>> Create osi_surfaceline.proto +======= +>>>>>>> Update osi_surfaceline.proto // // \attention If more than one surface line exists, they are not allowed to cross each other // or the lane boundaries, otherwise you could have conflicting height information at these points. // <<<<<<< HEAD +<<<<<<< HEAD ======= // Up for discussion: SurfaceLines can be in the same x/y coordinates with different z values // in order to model vertical surfaces like curbstones +======= +>>>>>>> Update osi_surfaceline.proto >>>>>>> Create osi_surfaceline.proto message SurfaceLine @@ -81,6 +99,7 @@ message SurfaceLine optional Identifier id = 1; // points making up the surfaceline +<<<<<<< HEAD <<<<<<< HEAD // The surfaceline must be defined in the same direction as the // lane or lane boundaries. @@ -90,6 +109,10 @@ message SurfaceLine // should increase along the line. Note that Spositions will not always // increase strictly monotonically. >>>>>>> Create osi_surfaceline.proto +======= + // The surfaceline must be defined in the same direction as the + // lane or lane boundaries. +>>>>>>> Update osi_surfaceline.proto // // If the surfaceline approximates a curve (e.g. a cubic function in // OpenDRIVE), the points must be chosen in a way that the lateral distance @@ -102,12 +125,15 @@ message SurfaceLine // line) must not exceed 2cm, since height gaps are more noticable. // <<<<<<< HEAD +<<<<<<< HEAD ======= // Note: if two lanes have different Z heights (e.g. a driving lane is // beside a sidewalk, where the sidewalk is 10cm higher than the road), // then these lanes cannot share a boundary, since their boundaries have // different Z heights. >>>>>>> Create osi_surfaceline.proto +======= +>>>>>>> Update osi_surfaceline.proto repeated SurfaceLinePoint surfaceline = 2; // Definition of the placement of the newly introduced surfaceline in the center of the lane. @@ -216,68 +242,39 @@ message SurfaceLine // optional bool surfaceline_is_centerline = 3; - // ID of the surfaceline that is directly adjacent to the - // surfaceline on the left side (w.r.t. ascending order of surfaceline points - // and lane boundary points/reference line). - // Up for discussion, if lengths of surfaceline segments are - // synchronized or not and therefore can contain multiple adjacent segments. - // - // \note If none or just one surfaceline is present, this should be empty. + // ID of the surfaceline that is directly adjacent to the surfaceline on + // the left side (w.r.t. ascending order of surfaceline points + // and lane boundary points). // - // \note If this surfaceline is neighboring the left LaneBoundary or LogicalLaneBoundary, - // should this field be empty? Other proposal would be a surfaceline would have to - // be placed also on every boundary, which may impose inconsistencies between surface - // represenation by surfacelines and boundaries + // \note If there is no left adjacent surface line, this will mean its located at the + // left LaneBoundary. // - // \proposal In order to model curb stones more accurately, there could be - // two surfacelines with different z-values on top of each other. This would - // impose curbstones to shift from a lane boundary to a lane type. - // Must be discussed if the upper one is the "most left" surfaceline or - // if the driving lane "stops" at the lower surface line e.g lane boundary - // and the next lane just starts with the upper surface line / lane boundary. + // \proposal In order to model curb stones, one surface line will be placed at the lower edge + // of the curb that belongs to the border lane/driving lane and another one on the upper edge + // that will belong to the sidewalk + // (see https://github.com/OpenSimulationInterface/open-simulation-interface/pull/608) // optional Identifier left_adjacent_surfaceline_id = 4; - // List of IDs of all surfaceline segments that are directly adjacent to the + // ID of the surfaceline that are directly adjacent to the // surfaceline on the right side (w.r.t. ascending order of surfaceline points - // and lane boundary points). Note that lengths of surfaceline segments are - // not synchronized and therefore can contain multiple adjacent segments. - // - // \note If none or just one surfaceline is present, this should be empty. - // - // \note If this surfaceline is neighboring the right LaneBoundary or LogicalLaneBoundary, - // should this field be empty? Same proposal as for left_adjacent_surfaceline_id + // and lane boundary points). // + // \note If there is no right adjacent surface line, this will mean its located at the + // right LaneBoundary + // optional Identifier right_adjacent_surfaceline_id = 5; - // if no surfaceline is placed at each LaneBoundary/LogicalLaneBoundary - // we may need to have different fields for these too or in addition - // - // \note Needs to be discussed if these fields are always filled or just for - // the most left or right surface line, that is directly adjacent to the - // boundaries. - //optional LaneBoundary.Identifier left_lane_boundary_id = 6; - //optional LaneBoundary.Identifier left_lane_boundary_id = 7; - //optional LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 8; - //optional LogicalLaneBoundary.Identifier left_logicallane_boundary_id = 9; + // \note Needs to be discussed if we reference the most left surfaceline + // to the left LaneBoundary id or just state that it is at the boundary. + //optional LaneBoundary.Identifier is_left_lane_boundary_id = 6; + //optional LaneBoundary.Identifier is_right_lane_boundary_id = 7; - // one point of the surface line - // message SurfaceLinePoint { // The position of the \c SurfaceLinePoint. // optional Vector3d position = 1; - - // S position of the SurfaceLinePoint, measured along the logical lane's - // reference_line_id. - // - optional double s_position = 2; - - // T position of the SurfaceLinePoint, measured along the logical lane's - // reference_line_id. - // - optional double t_position = 3; } } >>>>>>> Create osi_surfaceline.proto From 6428610141a27a5e857204cd5f5629b48edabcf6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 24 Jan 2022 11:35:09 +0100 Subject: [PATCH 194/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index 91f96737f..23b267f9b 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -265,10 +265,11 @@ message SurfaceLine // optional Identifier right_adjacent_surfaceline_id = 5; - // \note Needs to be discussed if we reference the most left surfaceline - // to the left LaneBoundary id or just state that it is at the boundary. - //optional LaneBoundary.Identifier is_left_lane_boundary_id = 6; - //optional LaneBoundary.Identifier is_right_lane_boundary_id = 7; + // \note If this surface line is located at the left/right + // LaneBoundary we reference the appropriate id and can use + // the information about the points + optional LaneBoundary.Identifier is_left_lane_boundary_id = 6; + optional LaneBoundary.Identifier is_right_lane_boundary_id = 7; message SurfaceLinePoint { From 5abdfb374fb981e26a42a49c41fc8ba200105f64 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 31 Jan 2022 09:29:28 +0100 Subject: [PATCH 195/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Added sections to change the number of surface lines Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 41 ++++++++++++++++++++++++++++++++++++++++- 1 file changed, 40 insertions(+), 1 deletion(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index 23b267f9b..f59f27dbf 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -139,11 +139,15 @@ message SurfaceLine // Definition of the placement of the newly introduced surfaceline in the center of the lane. // // Defined and used for driving lanes. +<<<<<<< HEAD <<<<<<< HEAD // \c true means that the surface line is also the centerline of the lane. ======= // \c true means that the surface line is also the centerline of the lane4. >>>>>>> Create osi_surfaceline.proto +======= + // \c true means that the surface line is also the centerline of the lane. +>>>>>>> Update osi_surfaceline.proto // // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2 // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in @@ -271,11 +275,46 @@ message SurfaceLine optional LaneBoundary.Identifier is_left_lane_boundary_id = 6; optional LaneBoundary.Identifier is_right_lane_boundary_id = 7; - message SurfaceLinePoint { + // Id of the corresponding lane that this surface line belongs to + optional Lane.Identifier lane = 8; + message SurfaceLinePoint { + // The position of the \c SurfaceLinePoint. // optional Vector3d position = 1; } + + // In order to be able to increase/decrease the accuracy or detail of the surface description + // by adding more surfacelines for a certain part of a lane, the corresponding + // surfacelines are grouped in sections. Whenever a different number of surfacelines is needed + // along the course of the lane, a new section is introduced + // + // Example: + // + // < sls_1 >|< sls_2 >|< sls_3 >| + // |--------- sl_1 ------------|---------- sl_3 ----------|----------- ls_6 ----------| + // | | |----------- ls_7 ----------| + // | |---------- sl_4 ----------|----------- ls_8 ----------| + // | | |----------- ls_9 ----------| + // |--------- sl_2 ------------|---------- sl_5 ----------|----------- ls_10 ---------| + message SurfaceLineSection { + // Id of the corresponding lane that this section belongs to + optional Lane.Identifier lane = 1; + + // Sections are indexed in increasing order along the lane direction. + // That way we have an automatic successor/predecessor for faster access + optional Identifier sectionindex = 2; + + // Each section contains a list of the included surfacelines + repeated SurfaceLine surfacelines = 3; + + } + } +<<<<<<< HEAD >>>>>>> Create osi_surfaceline.proto +======= + + +>>>>>>> Update osi_surfaceline.proto From 76ab09a8fae8b25b6b2d4491bfff0075ebe48d41 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 31 Jan 2022 09:56:41 +0100 Subject: [PATCH 196/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 3 +++ 1 file changed, 3 insertions(+) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index f59f27dbf..f21e77a27 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -5,9 +5,12 @@ option optimize_for = SPEED; import "osi_common.proto"; import "osi_lane.proto"; <<<<<<< HEAD +<<<<<<< HEAD ======= import "osi_logicallane.proto"; >>>>>>> Create osi_surfaceline.proto +======= +>>>>>>> Update osi_surfaceline.proto package osi3; From b8e33047902215de7fdf37b0274843f7dc2da642 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 31 Jan 2022 11:57:30 +0100 Subject: [PATCH 197/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 23 +++++++++++++++++++---- 1 file changed, 19 insertions(+), 4 deletions(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index f21e77a27..7ecc12956 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -81,6 +81,7 @@ package osi3; // <<<<<<< HEAD <<<<<<< HEAD +<<<<<<< HEAD ======= // Up for discussion: SurfaceLines can be in the same x/y coordinates with different z values // in order to model vertical surfaces like curbstones @@ -88,6 +89,8 @@ package osi3; >>>>>>> Update osi_surfaceline.proto >>>>>>> Create osi_surfaceline.proto +======= +>>>>>>> Update osi_surfaceline.proto message SurfaceLine { // The ID of the surface line. @@ -272,15 +275,24 @@ message SurfaceLine // optional Identifier right_adjacent_surfaceline_id = 5; - // \note If this surface line is located at the left/right + // \note If this surface line is located at the left // LaneBoundary we reference the appropriate id and can use // the information about the points + // optional LaneBoundary.Identifier is_left_lane_boundary_id = 6; + + // \note If this surface line is located at the right + // LaneBoundary we reference the appropriate id and can use + // the information about the points + // optional LaneBoundary.Identifier is_right_lane_boundary_id = 7; // Id of the corresponding lane that this surface line belongs to + // optional Lane.Identifier lane = 8; + // Definition of the points that make up a surface line + // message SurfaceLinePoint { // The position of the \c SurfaceLinePoint. @@ -301,19 +313,22 @@ message SurfaceLine // | |---------- sl_4 ----------|----------- ls_8 ----------| // | | |----------- ls_9 ----------| // |--------- sl_2 ------------|---------- sl_5 ----------|----------- ls_10 ---------| + // message SurfaceLineSection { + // Id of the corresponding lane that this section belongs to + // optional Lane.Identifier lane = 1; // Sections are indexed in increasing order along the lane direction. // That way we have an automatic successor/predecessor for faster access + // optional Identifier sectionindex = 2; // Each section contains a list of the included surfacelines - repeated SurfaceLine surfacelines = 3; - + // + repeated SurfaceLine surfacelines = 3; } - } <<<<<<< HEAD >>>>>>> Create osi_surfaceline.proto From e1cc5b181d9ff7410d92bf17efd2a826a3a883d2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 31 Jan 2022 12:27:00 +0100 Subject: [PATCH 198/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: def4ke <f4ke@projectphoenix.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index 7ecc12956..b86900b5c 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -159,6 +159,7 @@ message SurfaceLine // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in // image \ref HighwayExit . // +<<<<<<< HEAD <<<<<<< HEAD // \note The \c #centerline is defined only for \c #type = // \c #TYPE_DRIVING and if exactly one or no \c #lane_pairing pair @@ -249,6 +250,11 @@ message SurfaceLine ======= // \note The \c #centerline is currently only defined for \c #type // = \c #TYPE_DRIVING . +======= + // \note The \c #centerline is defined only for \c #type = + // \c #TYPE_DRIVING and if exactly one or no \c #lane_pairing pair + // exists. +>>>>>>> Update osi_surfaceline.proto // optional bool surfaceline_is_centerline = 3; From e265b8bc538f895ddead2233c2a320a36c85cc98 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 31 Jan 2022 14:02:22 +0100 Subject: [PATCH 199/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Added brief description and references to appropriate lines as suggested Signed-off-by: Arne Düselder <arne.dueselder@fka.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index b86900b5c..df354319d 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -18,6 +18,11 @@ package osi3; // <<<<<<< HEAD <<<<<<< HEAD +<<<<<<< HEAD +======= +// \brief Surfacelines describe the height profile along the lane +// +>>>>>>> Update osi_surfaceline.proto // The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary. // It is also intended to replace the centerline as a physical representation of the lane. The use of the ======= @@ -160,6 +165,7 @@ message SurfaceLine // image \ref HighwayExit . // <<<<<<< HEAD +<<<<<<< HEAD <<<<<<< HEAD // \note The \c #centerline is defined only for \c #type = // \c #TYPE_DRIVING and if exactly one or no \c #lane_pairing pair @@ -254,6 +260,12 @@ message SurfaceLine // \note The \c #centerline is defined only for \c #type = // \c #TYPE_DRIVING and if exactly one or no \c #lane_pairing pair // exists. +>>>>>>> Update osi_surfaceline.proto +======= + // \note The \c osi3::Lane::Classification::#centerline is defined only for + // \c osi3::Lane::Classification::#type = + // \c osi3::Lane::Classification::Type::#TYPE_DRIVING and if exactly one or no + // \c osi3::Lane::Classification::#lane_pairing pair exists. >>>>>>> Update osi_surfaceline.proto // optional bool surfaceline_is_centerline = 3; From 35def40ab4b6494e13e34823c4feae18a69866fd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 31 Jan 2022 14:24:57 +0100 Subject: [PATCH 200/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Added more \brief sections for every message Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index df354319d..2584c6b15 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -19,8 +19,12 @@ package osi3; <<<<<<< HEAD <<<<<<< HEAD <<<<<<< HEAD +<<<<<<< HEAD ======= // \brief Surfacelines describe the height profile along the lane +======= +// \\brief Surfacelines describe the height profile along the lane +>>>>>>> Update osi_surfaceline.proto // >>>>>>> Update osi_surfaceline.proto // The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary. @@ -309,7 +313,7 @@ message SurfaceLine // optional Lane.Identifier lane = 8; - // Definition of the points that make up a surface line + // \brief Definition of the points that make up a surface line // message SurfaceLinePoint { @@ -318,6 +322,7 @@ message SurfaceLine optional Vector3d position = 1; } + // \brief Sections for different numbers of surface lines along a lnae // In order to be able to increase/decrease the accuracy or detail of the surface description // by adding more surfacelines for a certain part of a lane, the corresponding // surfacelines are grouped in sections. Whenever a different number of surfacelines is needed From 5da4fec50f001c097d26122503126cea2a269011 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Mon, 31 Jan 2022 14:46:59 +0100 Subject: [PATCH 201/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Fixed typos Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index 2584c6b15..e2b636d7b 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -20,11 +20,15 @@ package osi3; <<<<<<< HEAD <<<<<<< HEAD <<<<<<< HEAD +<<<<<<< HEAD ======= // \brief Surfacelines describe the height profile along the lane ======= // \\brief Surfacelines describe the height profile along the lane >>>>>>> Update osi_surfaceline.proto +======= +// \brief Surfacelines describe the height profile along the lane +>>>>>>> Update osi_surfaceline.proto // >>>>>>> Update osi_surfaceline.proto // The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary. @@ -322,7 +326,8 @@ message SurfaceLine optional Vector3d position = 1; } - // \brief Sections for different numbers of surface lines along a lnae + // \brief Sections for different numbers of surface lines along a lane + // // In order to be able to increase/decrease the accuracy or detail of the surface description // by adding more surfacelines for a certain part of a lane, the corresponding // surfacelines are grouped in sections. Whenever a different number of surfacelines is needed From 90bd5916495fd422f2ac20ee4c32a55b8648bfe0 Mon Sep 17 00:00:00 2001 From: caspar-ai <caspar.dehaes@five.ai> Date: Fri, 4 Feb 2022 07:56:34 +0000 Subject: [PATCH 202/219] Add automated driving function state to host vehicle data (#589) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Add driver assist to host vehicle data Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> * Feedback from review Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> * Make the structure more generic to all automated driving Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> * Code review mark-ups Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> * Split out driver override To remove complexity and confusion from the state enum. Also remove redundant prefixes for fields and enums. Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> * small change Signed-off-by: Habedank Clemens <qxs2704@europe.bmw.corp> * Doc: fix reference style for links Signed-off-by: Stefan Cyliax <stefan.cyliax@asam.net> Co-authored-by: clemenshabedank <clemens.habedank@partner.bmw.de> Co-authored-by: Stefan Cyliax <stefan.cyliax@asam.net> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_common.proto | 17 +++ osi_hostvehicledata.proto | 257 +++++++++++++++++++++++++++++++++++++- osi_trafficupdate.proto | 16 +++ 3 files changed, 284 insertions(+), 6 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index 58685962c..5085541c1 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -885,3 +885,20 @@ message GeodeticPosition // optional double altitude = 3; } + +// +// \brief Generic key-value pair structure +// +// A generic key-value pair structure which can be used to capture information +// which is opaque to the general OSI interface. +// +message KeyValuePair +{ + // A generic string key. + // + optional string key = 1; + + // A generic string value. + // + optional string value = 2; +} diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index 761a2d42e..7049cc4c7 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -75,8 +75,20 @@ message HostVehicleData // optional VehicleLocalization vehicle_localization = 8; + // State of any automated driving functions. // - // \brief The absolute base parameters of the vehicle. + // This can include: + // - information presented to the driver, for example, parking sensors + // - warnings raised by the vehicle, for example, forward collision warning + // - corrective action taken by the vehicle, for example, auto emergency braking + // - full level 4 self driving systems + // + // \note OSI uses singular instead of plural for repeated field names. + // + repeated VehicleAutomatedDrivingFunction vehicle_automated_driving_function = 12; + + // + // \brief The absolute base parameters of the vehicle. // message VehicleBasics { @@ -170,7 +182,7 @@ message HostVehicleData } // - // \brief The focus here is on the description of the brake system. + // \brief The focus here is on the description of the brake system. // message VehicleBrakeSystem { @@ -181,7 +193,7 @@ message HostVehicleData } // - // \brief The focus here is on the description of the steering train. + // \brief The focus here is on the description of the steering train. // message VehicleSteering { @@ -223,7 +235,7 @@ message HostVehicleData // Rotation rate of the wheel based on the processed output of the hall sensor measurements at the wheel. // The rotation rate around the y-axis with respect to the wheel's coordinate system. - // + // // Unit: rad/s. // // The sign convention is defined using the right-hand rule. @@ -237,7 +249,7 @@ message HostVehicleData // Contains the longitudinal, measured slip of the tire. // \par References: - // - https://www.kfz-tech.de/Biblio/Formelsammlung/Schlupf.htm + // [1] kfz-tech.de, Schlupf, Retrieved June 30, 2021, from https://www.kfz-tech.de/Biblio/Formelsammlung/Schlupf.htm // // Unit: % // @@ -270,9 +282,242 @@ message HostVehicleData // in context to the global coordinate system. // optional Orientation3d orientation = 2; - + // Most accurate geodetic information of the vehicle available in the on-board network. // optional GeodeticPosition geodetic_position = 3; } + + // + // \brief State of one automated driving function on the host vehicle. + // + message VehicleAutomatedDrivingFunction + { + // The particular driving function being reported about. + // + optional Name name = 1; + + // Custom driving function name. + // + // Only used if name is set to NAME_OTHER. + // + optional string custom_name = 2; + + // The state of the function. + // + // This is whether the function has actually been triggered, for + // example, a warning has been raised, or additional braking is + // in effect. + // + optional State state = 3; + + // Custom state. + // + // Only used if the state is set to STATE_OTHER. + // + optional string custom_state = 4; + + // Whether, and how, the driver has overridden this function. + // + optional DriverOverride driver_override = 5; + + // Custom detail. + // + // An opaque set of key-value pairs which capture any user specific + // details that may be relevant. This could include details about + // how a warning was raised (dashboard, audible, etc.) or it could + // be about settings which would influence evaluation, such as + // sensitivity settings. + // + repeated KeyValuePair custom_detail = 6; + + // A list of possible automated driving features. + // + // \note This can span (in theory) from Level 0 all the way to Level 5. + // + // \par References: + // [1] CLEARING THE CONFUSION: Recommended Common Naming for Advanced Driver Assistance Technologies, SAE International, Retrieved October 22, 2021, from https://www.sae.org/binaries/content/assets/cm/content/miscellaneous/adas-nomenclature.pdf + // [2] Automated Driving, German Association of the Automotive Industry (VDA), Retrieved October 22, 2021, from https://www.vda.de/en/topics/innovation-and-technology/automated-driving/automated-driving + // + enum Name + { + // Unknown feature, should not be used. + // + NAME_UNKNOWN = 0; + + // Custom feature, see custom_name. + // + NAME_OTHER = 1; + + // Blind spot warning. + // + NAME_BLIND_SPOT_WARNING = 2; + + // Forward collision warning. + // + NAME_FORWARD_COLLISION_WARNING = 3; + + // Lane departure warning. + // + NAME_LANE_DEPARTURE_WARNING = 4; + + // Parking collision warning. + // + NAME_PARKING_COLLISION_WARNING = 5; + + // Rear cross-traffic warning + // + NAME_REAR_CROSS_TRAFFIC_WARNING = 6; + + // Automatic emergency braking + // + NAME_AUTOMATIC_EMERGENCY_BRAKING = 7; + + // Emergency steering + // + NAME_AUTOMATIC_EMERGENCY_STEERING = 8; + + // Reverse automatic emergency braking + // + NAME_REVERSE_AUTOMATIC_EMERGENCY_BRAKING = 9; + + // Adaptive cruise control + // + NAME_ADAPTIVE_CRUISE_CONTROL = 10; + + // Lane keeping assist + // + NAME_LANE_KEEPING_ASSIST = 11; + + // Active driving assistance + // + NAME_ACTIVE_DRIVING_ASSISTANCE = 12; + + // Backup camera + // + NAME_BACKUP_CAMERA = 13; + + // Surround view camera + // + NAME_SURROUND_VIEW_CAMERA = 14; + + // Active parking assistance + // + NAME_ACTIVE_PARKING_ASSISTANCE = 15; + + // Remote parking assistance + // + NAME_REMOTE_PARKING_ASSISTANCE = 16; + + // Trailer assistance + // + NAME_TRAILER_ASSISTANCE = 17; + + // Automatic high beams + // + NAME_AUTOMATIC_HIGH_BEAMS = 18; + + // Driver monitoring + // + NAME_DRIVER_MONITORING = 19; + + // Head up display + // + NAME_HEAD_UP_DISPLAY = 20; + + // Night vision + // + NAME_NIGHT_VISION = 21; + + // Urban driving + // + NAME_URBAN_DRIVING = 22; + + // Highway autopilot. + // + NAME_HIGHWAY_AUTOPILOT = 23; + + // Cruise control. + // + NAME_CRUISE_CONTROL = 24; + + // Speed limit control + // + NAME_SPEED_LIMIT_CONTROL = 25; + } + + // The state that the feature is in. + // + // \note Not all of these will be applicable for all vehicles + // and features. + // + enum State + { + // An unknown state, this should not be used. + // + STATE_UNKNOWN = 0; + + // Used for custom states not covered by the definitions below. + // + // A string state can be specified in custom_state. + // + STATE_OTHER = 1; + + // The function has errored in some way that renders it ineffective. + // + STATE_ERRORED = 2; + + // The function cannot be used due to unfulfilled preconditions, + // for example it is a highway only feature and the vehicle is in + // an urban environment. + // + STATE_UNAVAILABLE = 3; + + // The function can be used as all preconditions are satisfied, but + // it hasn't been enabled. + // + STATE_AVAILABLE = 4; + + // The function is available but conditions have not caused it to be + // triggered, for example, no vehicles in front to trigger a FCW. + // + STATE_STANDBY = 5; + + // The function is currently active, for example, a warning is being + // shown to the driver, or emergency braking is being applied/ + // + STATE_ACTIVE = 6; + } + + // + // \brief Driver override information + // + // Information about whether and how and driver may have overridden + // an automated driving function. + // + message DriverOverride + { + // The feature has been overridden by a driver action. + // + // \note If false, the rest of this message should be ignored. + optional bool active = 1; + + // What driver inputs have caused the override. + // + repeated Reason override_reason = 2; + + // Ways in which a driver could override a driving function. + // + enum Reason + { + // The driver has applied sufficient input via the break pedal. + // + REASON_BRAKE_PEDAL = 0; + + // The driver has applied sufficient steering input. + // + REASON_STEERING_INPUT = 1; + } + } + } } diff --git a/osi_trafficupdate.proto b/osi_trafficupdate.proto index 965937630..5b157c668 100644 --- a/osi_trafficupdate.proto +++ b/osi_trafficupdate.proto @@ -5,6 +5,7 @@ option optimize_for = SPEED; import "osi_version.proto"; import "osi_common.proto"; import "osi_object.proto"; +import "osi_hostvehicledata.proto"; package osi3; @@ -52,4 +53,19 @@ message TrafficUpdate // MovingObject::VehicleClassification::trailer_id. // repeated MovingObject update = 3; + + // Internal state for each vehicle. + // + // This is an optional field as internal state may not be known or relevant, + // for example, a trailer might not have any internal state. + // It is also allowed to only specify internal_state for a subset of the + // objects referenced in the update. + // + // \note This covers any information which cannot be externally perceived + // and therefore cannot be included in messages available in ground truth. + // + // \note The id field from this should match the id in the update field + // above where the same vehicle is being referenced. + // + repeated HostVehicleData internal_state = 4; } From 0fc0b9a0d963fb921953806a4a0ed56c9f3eebbc Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Fri, 27 Aug 2021 11:10:17 +0200 Subject: [PATCH 203/219] Add dash gap enum MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/osi_lane.proto b/osi_lane.proto index c3e2d16e5..4f6a2e0e1 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -889,6 +889,11 @@ message LaneBoundary // The current \c BoundaryPoint indicates the end of a dash. // DASH_END = 4; + + // The current \c BoundaryPoint is located in the gap between + // two dashes on a dashed line. + // + DASH_GAP = 5; } } From 471c9ea07de6bfe0b84364ea066e20f92657ffc2 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Mon, 29 Nov 2021 11:56:21 +0100 Subject: [PATCH 204/219] Refine gap enum description MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index 4f6a2e0e1..e9574db61 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -891,8 +891,8 @@ message LaneBoundary DASH_END = 4; // The current \c BoundaryPoint is located in the gap between - // two dashes on a dashed line. - // + // two dashes on a dashed line or indicates the start or end of + // a lane boundary off the dash. DASH_GAP = 5; } } From d38625c757a32fce9d3ac4ea63d617eff528a30d Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Date: Thu, 9 Dec 2021 16:48:53 +0100 Subject: [PATCH 205/219] Update comment for DASH_GAP MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Thomas Sedlmayer <tsedlmayer@pmsfit.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_lane.proto | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index e9574db61..c064643d1 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -891,8 +891,10 @@ message LaneBoundary DASH_END = 4; // The current \c BoundaryPoint is located in the gap between - // two dashes on a dashed line or indicates the start or end of - // a lane boundary off the dash. + // two dashes. When used to describe a first/last point of a lane + // boundary, it indicates that the lane boundary starts/ends in + // a gap. + // DASH_GAP = 5; } } From b9abd1669064235bf03fe7b7695bf81748ae0f13 Mon Sep 17 00:00:00 2001 From: Carlo van Driesten <carlo.van-driesten@bmw.de> Date: Fri, 11 Feb 2022 08:46:35 +0100 Subject: [PATCH 206/219] Remove protobuf version mention in README MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Pierre R. Mai <pmai@pmsf.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 5ea6fee68..2ed0d6c96 100644 --- a/README.md +++ b/README.md @@ -91,7 +91,7 @@ Install `pip3` and missing python packages: ```bash $ sudo apt-get install python3-pip python3-setuptools ``` -Install `protobuf` 3.0.0: +Install `protobuf`: ```bash $ sudo apt-get install libprotobuf-dev protobuf-compiler ``` From f6be83129c77f0d9019df389cbaa12ef6b97d3fa Mon Sep 17 00:00:00 2001 From: Thomas Bleher <thomas.tb.bleher@bmw.de> Date: Wed, 2 Feb 2022 16:08:04 +0100 Subject: [PATCH 207/219] Tweak Doxygen output MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - Automatically generate brief output, so the attribute list is more informative. - Do not sort detailed description alphabetically. This means the detailed description is in the same order as the attribute list and the source file. - Translate \rules and \endrules to something more readable. As a nice side effect, this removes a lot of warnings when building the documentation. Signed-off-by: Thomas Bleher <thomas.tb.bleher@bmw.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doxygen_config.cmake.in | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/doxygen_config.cmake.in b/doxygen_config.cmake.in index 64730dab1..d27b4031c 100644 --- a/doxygen_config.cmake.in +++ b/doxygen_config.cmake.in @@ -15,16 +15,21 @@ RECURSIVE = YES # There is no standard configuration for .proto files documentation. # A Doxygen filter for .proto files has to be added under the directory doc/. # proto2cpp.py is an external script. See README.md for more informations. -JAVADOC_AUTOBRIEF = NO +JAVADOC_AUTOBRIEF = YES +REPEAT_BRIEF = YES +ALWAYS_DETAILED_SEC = YES EXTENSION_MAPPING = proto=C++ FILE_PATTERNS = *.proto INPUT_FILTER = "python @FILTER_PROTO2CPP_PY_PATH@/proto2cpp.py" HAVE_DOT = YES HIDE_UNDOC_RELATIONS = NO MAX_DOT_GRAPH_DEPTH = 2 -SORT_MEMBER_DOCS = YES +SORT_MEMBER_DOCS = NO USE_MATHJAX = YES +# Translate \rules and \endrules to something more readable +ALIASES = "rules=\par Rules\n\code{.unparsed}" "endrules=\endcode" + # If someone wants UML diagrams in the documentation, the next parameter must # be commented in. #UML_LOOK = YES From c3340e3b1d3a32eb07c192bf65f8b7b7a8656d4f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Arne=20D=C3=BCselder?= <60253650+arnedueselder@users.noreply.github.com> Date: Thu, 17 Feb 2022 12:55:00 +0100 Subject: [PATCH 208/219] Update osi_surfaceline.proto MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> First changes according to last meetings feedback Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_surfaceline.proto | 69 ++++++++++++++++++++++++------------------- 1 file changed, 38 insertions(+), 31 deletions(-) diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto index e2b636d7b..67d2daf14 100644 --- a/osi_surfaceline.proto +++ b/osi_surfaceline.proto @@ -39,11 +39,15 @@ package osi3; >>>>>>> Create osi_surfaceline.proto ======= // The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary. +<<<<<<< HEAD // It is also intended to replace the centerline as a physical representation of the lane. The use of the >>>>>>> Update osi_surfaceline.proto // centerline for driving/steering inputs should rather be solved with a logical information, that is not // mandatory based on the true center of the lane. // +======= + +>>>>>>> Update osi_surfaceline.proto // \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px // // \note @@ -78,6 +82,7 @@ package osi3; ======= >>>>>>> Update osi_surfaceline.proto // if needed. +<<<<<<< HEAD // Up for discusssion: Should a flat road consist of no surface line, since the // lane boundaries can be used in this case. Other option would be a mandatory surfaceline // at each LaneBoundary, in simple flat roads it will consist of just 2 points. @@ -88,6 +93,8 @@ package osi3; >>>>>>> Create osi_surfaceline.proto ======= >>>>>>> Update osi_surfaceline.proto +======= +>>>>>>> Update osi_surfaceline.proto // // \attention If more than one surface line exists, they are not allowed to cross each other // or the lane boundaries, otherwise you could have conflicting height information at these points. @@ -305,13 +312,13 @@ message SurfaceLine // LaneBoundary we reference the appropriate id and can use // the information about the points // - optional LaneBoundary.Identifier is_left_lane_boundary_id = 6; + optional bool is_at_left_lane_boundary = 6; // \note If this surface line is located at the right // LaneBoundary we reference the appropriate id and can use // the information about the points // - optional LaneBoundary.Identifier is_right_lane_boundary_id = 7; + optional bool is_at_right_lane_boundary = 7; // Id of the corresponding lane that this surface line belongs to // @@ -324,39 +331,39 @@ message SurfaceLine // The position of the \c SurfaceLinePoint. // optional Vector3d position = 1; - } + } +} + +// \brief Sections for different numbers of surface lines along a lane +// +// In order to be able to increase/decrease the accuracy or detail of the surface description +// by adding more surfacelines for a certain part of a lane, the corresponding +// surfacelines are grouped in sections. Whenever a different number of surfacelines is needed +// along the course of the lane, a new section is introduced +// +// Example: +// +// < sls_1 >|< sls_2 >|< sls_3 >| +// |--------- sl_1 ------------|---------- sl_3 ----------|----------- ls_6 ----------| +// | | |----------- ls_7 ----------| +// | |---------- sl_4 ----------|----------- ls_8 ----------| +// | | |----------- ls_9 ----------| +// |--------- sl_2 ------------|---------- sl_5 ----------|----------- ls_10 ---------| +// +message SurfaceLineSection { - // \brief Sections for different numbers of surface lines along a lane - // - // In order to be able to increase/decrease the accuracy or detail of the surface description - // by adding more surfacelines for a certain part of a lane, the corresponding - // surfacelines are grouped in sections. Whenever a different number of surfacelines is needed - // along the course of the lane, a new section is introduced - // - // Example: + // Id of the corresponding lane that this section belongs to // - // < sls_1 >|< sls_2 >|< sls_3 >| - // |--------- sl_1 ------------|---------- sl_3 ----------|----------- ls_6 ----------| - // | | |----------- ls_7 ----------| - // | |---------- sl_4 ----------|----------- ls_8 ----------| - // | | |----------- ls_9 ----------| - // |--------- sl_2 ------------|---------- sl_5 ----------|----------- ls_10 ---------| + optional Lane.Identifier lane = 1; + + // Sections are indexed in increasing order along the lane direction. + // That way we have an automatic successor/predecessor for faster access // - message SurfaceLineSection { - - // Id of the corresponding lane that this section belongs to - // - optional Lane.Identifier lane = 1; - - // Sections are indexed in increasing order along the lane direction. - // That way we have an automatic successor/predecessor for faster access - // - optional Identifier sectionindex = 2; + optional Identifier sectionindex = 2; - // Each section contains a list of the included surfacelines - // - repeated SurfaceLine surfacelines = 3; - } + // Each section contains a list of the included surfacelines + // + repeated SurfaceLine surfacelines = 3; } <<<<<<< HEAD >>>>>>> Create osi_surfaceline.proto From f402f0a90bd67d595bf7ba6942b3ecbdfe6b6356 Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Thu, 30 Sep 2021 11:35:36 +0100 Subject: [PATCH 209/219] Add TYPE_TRUCK to vehicle classifications MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit To align with OpenSCENARIO and OpenLABEL. Also deprecate the use of TYPE_HEAVY_TRUCK and TYPE_SEMITRAILER as ambiguous. Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 216a3c884..4a6986149 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -771,11 +771,13 @@ message MovingObject // TYPE_DELIVERY_VAN = 6; - // Vehicle is a heavy truck. + // This vehicle type is deprecated. See TYPE_TRUCK for more + // details. // TYPE_HEAVY_TRUCK = 7; - // Vehicle is a truck with semitrailer. + // This vehicle type is deprecated. See TYPE_TRUCK for more + // details. // TYPE_SEMITRAILER = 8; @@ -806,6 +808,17 @@ message MovingObject // Vehicle is a wheelchair. // TYPE_WHEELCHAIR = 15; + + // Vehicle is a truck. + // + // Definition: any large vehicle used for transport of goods + // or materials. Covers all rigid body vehicles, irrespective + // of the number of axles. For articulated vehicles, the tractor + // and trailer(s) should be reported as separate moving objects + // with TYPE_TRUCK used for the tractor, and TYPE_TRAILER used + // for all trailers. + // + TYPE_TRUCK = 16; } // From f1df57603aaa24ee044e7c0a21cddd7e73fbb9e3 Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Mon, 22 Nov 2021 12:23:17 +0000 Subject: [PATCH 210/219] Clarify OSC <-> OSI mapping for vehicle types MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Specifically removing renaming of heavy-truck -> truck and defining the mapping instead. Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 80 +++++++++++++++++++++++++++++++++++++++--------- 1 file changed, 66 insertions(+), 14 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 4a6986149..176b16ae7 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -745,80 +745,132 @@ message MovingObject // // Definition: Hatchback car with maximum length 4 m. // + // This is one of the OSI types which map from "car" in both OpenScenario 1.x and 2.x. + // TYPE_SMALL_CAR = 2; // Vehicle is a compact car. // // Definition: Hatchback car with length between 4 and 4.5 m. // + // This is one of the OSI types which map from "car" in both OpenScenario 1.x and 2.x. + // TYPE_COMPACT_CAR = 3; // Vehicle is a medium car. // // Definition: Hatchback or sedan with lenght between 4.5 and 5 m. // + // This is one of the OSI types which map from "car" in both OpenScenario 1.x and 2.x. + // TYPE_MEDIUM_CAR = 4; // Vehicle is a luxury car. // // Definition: Sedan or coupe that is longer then 5 m. // + // This is one of the OSI types which map from "car" in both OpenScenario 1.x and 2.x. + // TYPE_LUXURY_CAR = 5; // Vehicle is a delivery van. // // Definition: A delivery van. // + // This corresponds to "van" in OpenScenario 1.x. + // + // This is one of the OSI types which map from "truck" in OpenScenario 2.x. + // TYPE_DELIVERY_VAN = 6; - // This vehicle type is deprecated. See TYPE_TRUCK for more - // details. + // Vehicle is a (heavy) truck. + // + // Definition: A rigid-body truck that cannot pull a semi-trailer. + // + // This corresponds to "truck" in OpenScenario 1.x. + // + // This is one of the OSI types which map from "truck" in OpenScenario 2.x. // TYPE_HEAVY_TRUCK = 7; - // This vehicle type is deprecated. See TYPE_TRUCK for more - // details. + // Vehicle is a tractor unit capable of pulling a semi-trailer. + // + // Definition: The cab for an articulated vehicle. + // + // This has no equivalent in OpenScenario 1.x. + // + // This is one of the OSI types which map from "truck" in OpenScenario 2.x. + // + TYPE_SEMITRACTOR = 16; + + // This vehicle is a trailer unit for an articulated vehicle. + // + // Definition: A trailer that can be pulled by a semi-tractor. + // There is no precise definition of this vs a typical trailer, although + // typically it is used for trailers with a non-trivial bounding box + // overlap with the tractor unit. + // + // This corresponds to "semitrailer" in OpenScenario 1.x. + // + // This is one of the OSI types which map from "trailer" in OpenScenario 2.x. // TYPE_SEMITRAILER = 8; // Vehicle is a trailer (possibly attached to another vehicle). // + // Definition: A trailer that isn't pulled by a semi-tractor. + // + // This corresponds to "trailer" in OpenScenario 1.x. + // + // This is one of the OSI types which map from "trailer" in OpenScenario 2.x. + // TYPE_TRAILER = 9; // Vehicle is a motorbike or moped. // + // This corresponds to "motorbike" in OpenScenario 1.x. + // + // This is one of the OSI types which map from "VRU_vehicle" in OpenScenario 2.x. + // TYPE_MOTORBIKE = 10; // Vehicle is a bicycle (without motor and specific lights). // + // This corresponds to "bicycle" in OpenScenario 1.x. + // + // This is one of the OSI types which map from "VRU_vehicle" in OpenScenario 2.x. + // TYPE_BICYCLE = 11; // Vehicle is a bus. // + // This corresponds to "bus" in both OpenScenario 1.x and 2.x. + // TYPE_BUS = 12; // Vehicle is a tram. // + // This corresponds to "tram" in OpenScenario 1.x. + // + // This has no equivalent in OpenScenario 2.x. + // TYPE_TRAM = 13; // Vehicle is a train. // + // This corresponds to "train" in OpenScenario 1.x. + // + // This has no equivalent in OpenScenario 2.x. + // TYPE_TRAIN = 14; // Vehicle is a wheelchair. // - TYPE_WHEELCHAIR = 15; - - // Vehicle is a truck. + // This has no equivalent in OpenScenario 1.x. // - // Definition: any large vehicle used for transport of goods - // or materials. Covers all rigid body vehicles, irrespective - // of the number of axles. For articulated vehicles, the tractor - // and trailer(s) should be reported as separate moving objects - // with TYPE_TRUCK used for the tractor, and TYPE_TRAILER used - // for all trailers. + // This is one of the OSI types which map from "VRU_vehicle" in OpenScenario 2.x. // - TYPE_TRUCK = 16; + TYPE_WHEELCHAIR = 15; } // From 59f9ebc2140abfdb024d89273e649992cfcb5671 Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Mon, 22 Nov 2021 12:35:17 +0000 Subject: [PATCH 211/219] Add placeholder for OSI/OSC divergence reason MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 3 +++ 1 file changed, 3 insertions(+) diff --git a/osi_object.proto b/osi_object.proto index 176b16ae7..776ae79ce 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -731,6 +731,9 @@ message MovingObject // Definition of vehicle types. // + // \note OSI deliberately aims to provide a richer set of vehicle types than both + // OpenLabel and OpenScenario 2.x. This is because ... + // enum Type { // Type of vehicle is unknown (must not be used in ground truth). From a6d83eed65191f370ac5f948ff30222a72b139e9 Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Mon, 22 Nov 2021 13:38:17 +0000 Subject: [PATCH 212/219] Clarify tram and train mappings MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Specifically regarding the mapping from OSC 2.x. Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 776ae79ce..20eb79f8c 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -841,7 +841,7 @@ message MovingObject // // This corresponds to "bicycle" in OpenScenario 1.x. // - // This is one of the OSI types which map from "VRU_vehicle" in OpenScenario 2.x. + // This is one of the OSI types which map from "bus" in OpenScenario 2.x. // TYPE_BICYCLE = 11; @@ -849,13 +849,15 @@ message MovingObject // // This corresponds to "bus" in both OpenScenario 1.x and 2.x. // + // This is one of the OSI types which map from "bus" in OpenScenario 2.x. + // TYPE_BUS = 12; // Vehicle is a tram. // // This corresponds to "tram" in OpenScenario 1.x. // - // This has no equivalent in OpenScenario 2.x. + // This is one of the OSI types which map from "bus" in OpenScenario 2.x. // TYPE_TRAM = 13; @@ -863,7 +865,7 @@ message MovingObject // // This corresponds to "train" in OpenScenario 1.x. // - // This has no equivalent in OpenScenario 2.x. + // This is one of the OSI types which map from "bus" in OpenScenario 2.x. // TYPE_TRAIN = 14; From bf3e1d4871b59e5eebf102397c686a2b1f90fc59 Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Tue, 23 Nov 2021 10:43:16 +0000 Subject: [PATCH 213/219] Fix typos based on review MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 20eb79f8c..4862b8b32 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -788,7 +788,7 @@ message MovingObject // Vehicle is a (heavy) truck. // - // Definition: A rigid-body truck that cannot pull a semi-trailer. + // Definition: A rigid-body truck. // // This corresponds to "truck" in OpenScenario 1.x. // @@ -841,7 +841,7 @@ message MovingObject // // This corresponds to "bicycle" in OpenScenario 1.x. // - // This is one of the OSI types which map from "bus" in OpenScenario 2.x. + // This is one of the OSI types which map from "VRU_vehicle" in OpenScenario 2.x. // TYPE_BICYCLE = 11; From 1805a9f2577660354ae5d12c295a434d42cd50e6 Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Tue, 23 Nov 2021 17:39:14 +0000 Subject: [PATCH 214/219] Simplify comments MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Don't attempt to provide precise ways of distinguishing between types at this stage. Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 84 ++++++++++++++++++++++++++---------------------- 1 file changed, 45 insertions(+), 39 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 4862b8b32..cf34b793f 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -731,8 +731,21 @@ message MovingObject // Definition of vehicle types. // - // \note OSI deliberately aims to provide a richer set of vehicle types than both - // OpenLabel and OpenScenario 2.x. This is because ... + // \note OSI provides a richer set of vehicle types than is supported by some + // other OpenX standards (in particular, OpenScenario 1.x and 2.x, and OpenLabel). + // This is primarily for historical reasons. Where a single type from a + // different standard can map to multiple OSI types it is left up to the + // discretion of the OSI implementor how that mapping is achieved. For example, + // a simulator may use the dimensions of a provided 3d model of a vehicle with type + // "car" in OpenScenario, to determine whether it should be a TYPE_SMALL_CAR or + // TYPE_MEDIUM_CAR in OSI. + // + // \note Vehicle type classification is a complex area and there are no + // universally recognised standards. As such, the boundaries between some of the + // OSI vehicle types are not well-defined. It is left to the implementor to + // decide how to distinguish between them and agree that with any applications which + // make use of that specific interface instance. For example, how to distinguish + // between a HEAVY_TRUCK and a DELIVERY_VAN, or a TRAILER and a SEMITRAILER. // enum Type { @@ -748,7 +761,8 @@ message MovingObject // // Definition: Hatchback car with maximum length 4 m. // - // This is one of the OSI types which map from "car" in both OpenScenario 1.x and 2.x. + // This is one of the OSI types which map from "car" in both + // OpenScenario 1.x and 2.x. // TYPE_SMALL_CAR = 2; @@ -756,7 +770,8 @@ message MovingObject // // Definition: Hatchback car with length between 4 and 4.5 m. // - // This is one of the OSI types which map from "car" in both OpenScenario 1.x and 2.x. + // This is one of the OSI types which map from "car" in both + // OpenScenario 1.x and 2.x. // TYPE_COMPACT_CAR = 3; @@ -764,7 +779,8 @@ message MovingObject // // Definition: Hatchback or sedan with lenght between 4.5 and 5 m. // - // This is one of the OSI types which map from "car" in both OpenScenario 1.x and 2.x. + // This is one of the OSI types which map from "car" in both + // OpenScenario 1.x and 2.x. // TYPE_MEDIUM_CAR = 4; @@ -772,60 +788,53 @@ message MovingObject // // Definition: Sedan or coupe that is longer then 5 m. // - // This is one of the OSI types which map from "car" in both OpenScenario 1.x and 2.x. + // This is one of the OSI types which map from "car" in both + // OpenScenario 1.x and 2.x. // TYPE_LUXURY_CAR = 5; // Vehicle is a delivery van. // - // Definition: A delivery van. - // // This corresponds to "van" in OpenScenario 1.x. // - // This is one of the OSI types which map from "truck" in OpenScenario 2.x. + // This is one of the OSI types which map from "truck" in + // OpenScenario 2.x. // TYPE_DELIVERY_VAN = 6; // Vehicle is a (heavy) truck. // - // Definition: A rigid-body truck. - // - // This corresponds to "truck" in OpenScenario 1.x. - // - // This is one of the OSI types which map from "truck" in OpenScenario 2.x. + // This is one of the OSI types which map from "truck" in + // both OpenScenario 1.x and 2.x. // TYPE_HEAVY_TRUCK = 7; - // Vehicle is a tractor unit capable of pulling a semi-trailer. - // - // Definition: The cab for an articulated vehicle. + // Vehicle is a tractor capable of pulling a semi-trailer. // - // This has no equivalent in OpenScenario 1.x. - // - // This is one of the OSI types which map from "truck" in OpenScenario 2.x. + // This is one of the OSI types which map from "truck" in + // both OpenScenario 1.x and 2.x. // TYPE_SEMITRACTOR = 16; - // This vehicle is a trailer unit for an articulated vehicle. - // - // Definition: A trailer that can be pulled by a semi-tractor. - // There is no precise definition of this vs a typical trailer, although - // typically it is used for trailers with a non-trivial bounding box - // overlap with the tractor unit. + // This vehicle is a semi-trailer that can be pulled by a + // semi-tractor. // // This corresponds to "semitrailer" in OpenScenario 1.x. // - // This is one of the OSI types which map from "trailer" in OpenScenario 2.x. + // This is one of the OSI types which map from "trailer" in + // OpenScenario 2.x. // TYPE_SEMITRAILER = 8; - // Vehicle is a trailer (possibly attached to another vehicle). + // Vehicle is a trailer. // - // Definition: A trailer that isn't pulled by a semi-tractor. + // \note The vehicle can be, but doesn't need to be, + // attached to another vehicle. // // This corresponds to "trailer" in OpenScenario 1.x. // - // This is one of the OSI types which map from "trailer" in OpenScenario 2.x. + // This is one of the OSI types which map from "trailer" in + // OpenScenario 2.x. // TYPE_TRAILER = 9; @@ -833,7 +842,8 @@ message MovingObject // // This corresponds to "motorbike" in OpenScenario 1.x. // - // This is one of the OSI types which map from "VRU_vehicle" in OpenScenario 2.x. + // This is one of the OSI types which map from "VRU_vehicle" in + // OpenScenario 2.x. // TYPE_MOTORBIKE = 10; @@ -841,7 +851,8 @@ message MovingObject // // This corresponds to "bicycle" in OpenScenario 1.x. // - // This is one of the OSI types which map from "VRU_vehicle" in OpenScenario 2.x. + // This is one of the OSI types which map from "VRU_vehicle" in + // OpenScenario 2.x. // TYPE_BICYCLE = 11; @@ -849,31 +860,26 @@ message MovingObject // // This corresponds to "bus" in both OpenScenario 1.x and 2.x. // - // This is one of the OSI types which map from "bus" in OpenScenario 2.x. - // TYPE_BUS = 12; // Vehicle is a tram. // // This corresponds to "tram" in OpenScenario 1.x. // - // This is one of the OSI types which map from "bus" in OpenScenario 2.x. - // TYPE_TRAM = 13; // Vehicle is a train. // // This corresponds to "train" in OpenScenario 1.x. // - // This is one of the OSI types which map from "bus" in OpenScenario 2.x. - // TYPE_TRAIN = 14; // Vehicle is a wheelchair. // // This has no equivalent in OpenScenario 1.x. // - // This is one of the OSI types which map from "VRU_vehicle" in OpenScenario 2.x. + // This is one of the OSI types which map from "VRU_vehicle" in + // OpenScenario 2.x. // TYPE_WHEELCHAIR = 15; } From 7445239c12c3233e3cc14b7ad04939a0aff9e296 Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Tue, 7 Dec 2021 09:27:54 +0000 Subject: [PATCH 215/219] Remove direct comparisons to OSC MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 53 ++---------------------------------------------- 1 file changed, 2 insertions(+), 51 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index cf34b793f..7884cd2af 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -761,68 +761,45 @@ message MovingObject // // Definition: Hatchback car with maximum length 4 m. // - // This is one of the OSI types which map from "car" in both - // OpenScenario 1.x and 2.x. - // TYPE_SMALL_CAR = 2; // Vehicle is a compact car. // // Definition: Hatchback car with length between 4 and 4.5 m. // - // This is one of the OSI types which map from "car" in both - // OpenScenario 1.x and 2.x. - // TYPE_COMPACT_CAR = 3; // Vehicle is a medium car. // // Definition: Hatchback or sedan with lenght between 4.5 and 5 m. // - // This is one of the OSI types which map from "car" in both - // OpenScenario 1.x and 2.x. - // TYPE_MEDIUM_CAR = 4; // Vehicle is a luxury car. // // Definition: Sedan or coupe that is longer then 5 m. // - // This is one of the OSI types which map from "car" in both - // OpenScenario 1.x and 2.x. - // TYPE_LUXURY_CAR = 5; // Vehicle is a delivery van. // // This corresponds to "van" in OpenScenario 1.x. // - // This is one of the OSI types which map from "truck" in - // OpenScenario 2.x. - // TYPE_DELIVERY_VAN = 6; // Vehicle is a (heavy) truck. // - // This is one of the OSI types which map from "truck" in - // both OpenScenario 1.x and 2.x. - // TYPE_HEAVY_TRUCK = 7; // Vehicle is a tractor capable of pulling a semi-trailer. // - // This is one of the OSI types which map from "truck" in - // both OpenScenario 1.x and 2.x. - // TYPE_SEMITRACTOR = 16; // This vehicle is a semi-trailer that can be pulled by a // semi-tractor. // - // This corresponds to "semitrailer" in OpenScenario 1.x. - // - // This is one of the OSI types which map from "trailer" in - // OpenScenario 2.x. + // \note The vehicle can be, but doesn't need to be, + // attached to another vehicle. // TYPE_SEMITRAILER = 8; @@ -831,56 +808,30 @@ message MovingObject // \note The vehicle can be, but doesn't need to be, // attached to another vehicle. // - // This corresponds to "trailer" in OpenScenario 1.x. - // - // This is one of the OSI types which map from "trailer" in - // OpenScenario 2.x. - // TYPE_TRAILER = 9; // Vehicle is a motorbike or moped. // - // This corresponds to "motorbike" in OpenScenario 1.x. - // - // This is one of the OSI types which map from "VRU_vehicle" in - // OpenScenario 2.x. - // TYPE_MOTORBIKE = 10; // Vehicle is a bicycle (without motor and specific lights). // - // This corresponds to "bicycle" in OpenScenario 1.x. - // - // This is one of the OSI types which map from "VRU_vehicle" in - // OpenScenario 2.x. - // TYPE_BICYCLE = 11; // Vehicle is a bus. // - // This corresponds to "bus" in both OpenScenario 1.x and 2.x. - // TYPE_BUS = 12; // Vehicle is a tram. // - // This corresponds to "tram" in OpenScenario 1.x. - // TYPE_TRAM = 13; // Vehicle is a train. // - // This corresponds to "train" in OpenScenario 1.x. - // TYPE_TRAIN = 14; // Vehicle is a wheelchair. // - // This has no equivalent in OpenScenario 1.x. - // - // This is one of the OSI types which map from "VRU_vehicle" in - // OpenScenario 2.x. - // TYPE_WHEELCHAIR = 15; } From 05b7424546e3e2ccaccb29fdd7621a11d719e4a5 Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Tue, 7 Dec 2021 09:32:08 +0000 Subject: [PATCH 216/219] Remove last OSC reference MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 2 -- 1 file changed, 2 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 7884cd2af..23cb09dd9 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -783,8 +783,6 @@ message MovingObject // Vehicle is a delivery van. // - // This corresponds to "van" in OpenScenario 1.x. - // TYPE_DELIVERY_VAN = 6; // Vehicle is a (heavy) truck. From 4b590992fc058d1ca0d840be72e53c365e2e45b8 Mon Sep 17 00:00:00 2001 From: Markus Waldmann <markus.waldmann@stud.hs-kempten.de> Date: Tue, 15 Feb 2022 14:10:33 +0100 Subject: [PATCH 217/219] Documentation images (#585) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Markus Waldmann <Markus.Waldmann@stud.hs-kempten.de> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/images/OSI_TYPE_DELIVERY_VAN.svg | 1 + doc/images/OSI_TYPE_HEAVY_TRUCK.svg | 1 + doc/images/OSI_TYPE_SEMITRACTOR.svg | 1 + doc/images/OSI_TYPE_SEMITRAILER.svg | 1 + doc/images/OSI_TYPE_TRAILER.svg | 1 + 5 files changed, 5 insertions(+) create mode 100644 doc/images/OSI_TYPE_DELIVERY_VAN.svg create mode 100644 doc/images/OSI_TYPE_HEAVY_TRUCK.svg create mode 100644 doc/images/OSI_TYPE_SEMITRACTOR.svg create mode 100644 doc/images/OSI_TYPE_SEMITRAILER.svg create mode 100644 doc/images/OSI_TYPE_TRAILER.svg diff --git a/doc/images/OSI_TYPE_DELIVERY_VAN.svg b/doc/images/OSI_TYPE_DELIVERY_VAN.svg new file mode 100644 index 000000000..0a7e406cc --- /dev/null +++ b/doc/images/OSI_TYPE_DELIVERY_VAN.svg @@ -0,0 +1 @@ +<svg width="995" height="369" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" overflow="hidden"><defs><clipPath id="clip0"><rect x="415" y="143" width="995" height="369"/></clipPath></defs><g clip-path="url(#clip0)" transform="translate(-415 -143)"><path d="M0 0 808.001 0 990 182.001 990 364 0 364Z" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4" fill-rule="evenodd" transform="matrix(-1 0 0 1 1407.5 145.5)"/><text fill="#FFFFFF" font-family="Calibri,Calibri_MSFontService,sans-serif" font-weight="400" font-size="83" transform="matrix(1 0 0 1 748.229 400)">Delivery Van</text></g></svg> \ No newline at end of file diff --git a/doc/images/OSI_TYPE_HEAVY_TRUCK.svg b/doc/images/OSI_TYPE_HEAVY_TRUCK.svg new file mode 100644 index 000000000..f30818df6 --- /dev/null +++ b/doc/images/OSI_TYPE_HEAVY_TRUCK.svg @@ -0,0 +1 @@ +<svg width="1434" height="652" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" overflow="hidden"><defs><clipPath id="clip0"><rect x="445" y="712" width="1434" height="652"/></clipPath></defs><g clip-path="url(#clip0)" transform="translate(-445 -712)"><path d="M0 0 209.5 0 419 209.5 419 495 0 495Z" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4" fill-rule="evenodd" transform="matrix(-1 0 0 1 866.5 743.5)"/><text fill="#FFFFFF" font-family="Calibri,Calibri_MSFontService,sans-serif" font-weight="400" font-size="83" transform="matrix(1 0 0 1 606.156 1020)">Heavy <tspan font-size="83" x="13.2917" y="99">Truck</tspan></text><rect x="447.5" y="1238.5" width="1429" height="123" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4"/><rect x="866.5" y="714.5" width="1010" height="524" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4"/></g></svg> \ No newline at end of file diff --git a/doc/images/OSI_TYPE_SEMITRACTOR.svg b/doc/images/OSI_TYPE_SEMITRACTOR.svg new file mode 100644 index 000000000..8e5b0e253 --- /dev/null +++ b/doc/images/OSI_TYPE_SEMITRACTOR.svg @@ -0,0 +1 @@ +<svg width="965" height="624" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" overflow="hidden"><defs><clipPath id="clip0"><rect x="445" y="1462" width="965" height="624"/></clipPath></defs><g clip-path="url(#clip0)" transform="translate(-445 -1462)"><path d="M0 0 209.5 0 419 209.5 419 495 0 495Z" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4" fill-rule="evenodd" transform="matrix(-1 0 0 1 866.5 1464.5)"/><text fill="#FFFFFF" font-family="Calibri,Calibri_MSFontService,sans-serif" font-weight="400" font-size="83" transform="matrix(1 0 0 1 627.193 1742)">Semi <tspan font-size="83" x="-35.7271" y="99">Tractor</tspan></text><rect x="447.5" y="1959.5" width="960" height="124" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4"/><rect x="987.5" y="1893.5" width="299" height="66" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4"/></g></svg> \ No newline at end of file diff --git a/doc/images/OSI_TYPE_SEMITRAILER.svg b/doc/images/OSI_TYPE_SEMITRAILER.svg new file mode 100644 index 000000000..4802dece2 --- /dev/null +++ b/doc/images/OSI_TYPE_SEMITRAILER.svg @@ -0,0 +1 @@ +<svg width="1854" height="624" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" overflow="hidden"><defs><clipPath id="clip0"><rect x="2298" y="1462" width="1854" height="624"/></clipPath></defs><g clip-path="url(#clip0)" transform="translate(-2298 -1462)"><rect x="2816.5" y="1464.5" width="1333" height="619" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4"/><rect x="2300.5" y="1464.5" width="516" height="495" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4"/><text fill="#FFFFFF" font-family="Calibri,Calibri_MSFontService,sans-serif" font-weight="400" font-size="83" transform="matrix(1 0 0 1 2476.24 1690)">Semi<tspan font-size="83" x="-22.6646" y="99">Trailer</tspan></text><rect x="2384.5" y="1959.5" width="348" height="66" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4"/></g></svg> \ No newline at end of file diff --git a/doc/images/OSI_TYPE_TRAILER.svg b/doc/images/OSI_TYPE_TRAILER.svg new file mode 100644 index 000000000..892b9eadf --- /dev/null +++ b/doc/images/OSI_TYPE_TRAILER.svg @@ -0,0 +1 @@ +<svg width="1686" height="623" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" overflow="hidden"><defs><clipPath id="clip0"><rect x="2466" y="741" width="1686" height="623"/></clipPath></defs><g clip-path="url(#clip0)" transform="translate(-2466 -741)"><rect x="2816.5" y="743.5" width="1333" height="618" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4"/><text fill="#FFFFFF" font-family="Calibri,Calibri_MSFontService,sans-serif" font-weight="400" font-size="83" transform="matrix(1 0 0 1 3377.78 1079)">Trailer</text><rect x="2468.5" y="1205.5" width="348" height="65" stroke="#2F528F" stroke-width="4.58333" stroke-miterlimit="8" fill="#4472C4"/></g></svg> \ No newline at end of file From 8e81f5dd8cc482232a0a2c3ab057dcacaaa23b72 Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Fri, 18 Feb 2022 17:20:37 +0000 Subject: [PATCH 218/219] Reference images in comments MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- osi_object.proto | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/osi_object.proto b/osi_object.proto index 23cb09dd9..215062706 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -783,14 +783,20 @@ message MovingObject // Vehicle is a delivery van. // + // \image html OSI_TYPE_DELIVERY_VAN.svg + // TYPE_DELIVERY_VAN = 6; // Vehicle is a (heavy) truck. // + // \image html OSI_TYPE_HEAVY_TRUCK.svg + // TYPE_HEAVY_TRUCK = 7; // Vehicle is a tractor capable of pulling a semi-trailer. // + // \image html OSI_TYPE_SEMITRACTOR.svg + // TYPE_SEMITRACTOR = 16; // This vehicle is a semi-trailer that can be pulled by a @@ -799,6 +805,8 @@ message MovingObject // \note The vehicle can be, but doesn't need to be, // attached to another vehicle. // + // \image html OSI_TYPE_SEMITRAILER.svg + // TYPE_SEMITRAILER = 8; // Vehicle is a trailer. @@ -806,6 +814,8 @@ message MovingObject // \note The vehicle can be, but doesn't need to be, // attached to another vehicle. // + // \image html OSI_TYPE_TRAILER.svg + // TYPE_TRAILER = 9; // Vehicle is a motorbike or moped. From 81f23da9064c310c4fe6fce3a536fcb163fbe3ef Mon Sep 17 00:00:00 2001 From: Caspar de Haes <caspar.dehaes@five.ai> Date: Tue, 22 Feb 2022 19:42:23 +0000 Subject: [PATCH 219/219] Add smaller black-line images MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Caspar de Haes <caspar.dehaes@five.ai> Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com> --- doc/images/OSI_TYPE_DELIVERY_VAN.svg | 17 ++++++++++++++++- doc/images/OSI_TYPE_HEAVY_TRUCK.svg | 17 ++++++++++++++++- doc/images/OSI_TYPE_SEMITRACTOR.svg | 17 ++++++++++++++++- doc/images/OSI_TYPE_SEMITRAILER.svg | 17 ++++++++++++++++- doc/images/OSI_TYPE_TRAILER.svg | 17 ++++++++++++++++- 5 files changed, 80 insertions(+), 5 deletions(-) diff --git a/doc/images/OSI_TYPE_DELIVERY_VAN.svg b/doc/images/OSI_TYPE_DELIVERY_VAN.svg index 0a7e406cc..f5f84d478 100644 --- a/doc/images/OSI_TYPE_DELIVERY_VAN.svg +++ b/doc/images/OSI_TYPE_DELIVERY_VAN.svg @@ -1 +1,16 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payload-end --> + <defs> + <style> + @font-face { + font-family: "Virgil"; + src: url("https://excalidraw.com/FG_Virgil.woff2"); + } + @font-face { + font-family: "Cascadia"; + src: url("https://excalidraw.com/Cascadia.woff2"); + } + </style> + </defs> + <rect x="0" y="0" width="229.3300621993826" height="141.37779480197122" fill="#ffffff"></rect><g><g transform="translate(11.33248711667261 71.59563651938964) rotate(0 16.177072712057907 -29.762259613799927)"><path d="M-0.7516450982540845 0.5394621770828962 C4.883647328623162 -9.472847818360686, 27.402050600985817 -50.08067874871671, 33.1057905223699 -60.06398140468275 M1.0546024958230555 -0.2229241252876819 C6.6267861095336835 -10.080754486565498, 27.016428055225692 -49.196585135706805, 32.35658879219682 -58.8206985894834" stroke="#000000" stroke-width="1" fill="none"></path></g></g><g><g transform="translate(44.18259214610748 11.92981696828383) rotate(0 86.63106514466199 0.10720661843086532)"><path d="M0.47073550634086136 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