diff --git a/.github/workflows/protobuf.yml b/.github/workflows/protobuf.yml index 11b52d5ff..20040e9b0 100644 --- a/.github/workflows/protobuf.yml +++ b/.github/workflows/protobuf.yml @@ -6,8 +6,18 @@ on: branches: [ master ] jobs: +<<<<<<< HEAD +<<<<<<< HEAD build-proto2-linux64: name: Build Proto2 Linux 64 +======= + 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 @@ -17,6 +27,10 @@ jobs: with: submodules: true +<<<<<<< HEAD +<<<<<<< HEAD +======= +>>>>>>> Add Python ProtoBuf build - name: Setup Python uses: actions/setup-python@v2 with: @@ -25,9 +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 @@ -54,9 +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 @@ -111,15 +133,22 @@ 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 +184,39 @@ 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 C++ Build + run: mkdir build + + - name: Configure C++ Build + working-directory: build + run: cmake .. + + - 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 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 diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 000000000..af7fa7314 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "flatbuffers"] + path = flatbuffers + url = https://github.com/google/flatbuffers.git diff --git a/CMakeLists.txt b/CMakeLists.txt index 58c125328..1acc23fcf 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 "${CMAKE_CURRENT_BINARY_DIR}/include") + list(APPEND FLAT_FBS "${CMAKE_CURRENT_BINARY_DIR}/descriptor.fbs") + foreach (proto ${OSI_PROTO_FILES}) + get_filename_component(proto_base ${proto} NAME_WE) + set(fbs "${proto_base}.fbs") + add_custom_command( + OUTPUT "${fbs}" + COMMAND $ -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 ${fbs} using flatc" + ) + list(APPEND FLAT_FBS "${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 $ -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_include_directories(${PROJECT_NAME}_fbs INTERFACE $) + target_include_directories(${PROJECT_NAME}_fbs SYSTEM INTERFACE $/include>) + target_link_libraries(${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/README.md b/README.md index 6053ce638..2ed0d6c96 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 @@ -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 ``` 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/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc new file mode 100644 index 000000000..13e5d70b9 --- /dev/null +++ b/doc/architecture/architecture_overview.adoc @@ -0,0 +1,41 @@ += 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. +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`. + +The following figure shows the interfaces and models involved in modeling a sensor. + +.Open Simulation Interface overview +image::{images_open_simulation_interface}/osi-context.png[1100] + + +OSI also defines interfaces for traffic participant models. +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 +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::{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 that describe measured internal states of traffic participants. +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 no longer has the `required` type. +Setting all fields to `optional` thus ensures update compatibility. +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. +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 new file mode 100644 index 000000000..a0d4c6770 --- /dev/null +++ b/doc/architecture/data_layer.adoc @@ -0,0 +1,14 @@ += Data layer + +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. +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 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/environmental_effect_model.adoc b/doc/architecture/environmental_effect_model.adoc new file mode 100644 index 000000000..89bc02b7e --- /dev/null +++ b/doc/architecture/environmental_effect_model.adoc @@ -0,0 +1,9 @@ += Environmental effect model + +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 +* Physics of a sensor +* Pre-processing of raw sensor data \ 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..79527d6f9 --- /dev/null +++ b/doc/architecture/feature_data.adoc @@ -0,0 +1,5 @@ += Feature data + +`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/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc new file mode 100644 index 000000000..2ff767ce4 --- /dev/null +++ b/doc/architecture/formatting_scripts.adoc @@ -0,0 +1,52 @@ += Trace-file formatting scripts + +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** + +`txt2osi.py` converts plain-text trace files to binary `.osi` trace files. +This script takes the following parameters: + +`--data`, `-d`:: +String containing the path to the file with serialized data. + +`--type`, `-t`:: +Optional string describing the message type used to serialize data. +`'SensorView'`, `'GroundTruth'`, or `'SensorData'` are permitted values. +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 an lzma file. +`True`, or `False` are permitted values. +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 describing the message type used to serialize data. +`'SensorView'`, `'GroundTruth'`, or `'SensorData'` are permitted values. +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 file. +`'separated'`, or `None` are permitted values. +The default value is `None`. + +**Related topics** + +* <<_osi_trace_file_formats>> \ No newline at end of file diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc new file mode 100644 index 000000000..2a03bc137 --- /dev/null +++ b/doc/architecture/ground_truth.adoc @@ -0,0 +1,5 @@ += Ground truth + +`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 diff --git a/doc/architecture/logical_model.adoc b/doc/architecture/logical_model.adoc new file mode 100644 index 000000000..3fec5de78 --- /dev/null +++ b/doc/architecture/logical_model.adoc @@ -0,0 +1,6 @@ += Logical model + +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/packaging_layer.adoc b/doc/architecture/packaging_layer.adoc new file mode 100644 index 000000000..c8f62b2bd --- /dev/null +++ b/doc/architecture/packaging_layer.adoc @@ -0,0 +1,13 @@ += Packaging layer + +The OSI packaging layer specifies how components that use the OSI data layer, for example, sensor models, are packaged for exchange. + +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. + +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 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/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_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc new file mode 100644 index 000000000..61b75af57 --- /dev/null +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -0,0 +1,20 @@ += Coordinate systems and reference points + +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:: +Coordinate system for all entities that are part of ground truth. +The global coordinate system is an inertial x/y/z-coordinate system. +The origin is the global reference point that is determined by the environment simulation. +This reference point may be derived from map data or other considerations. +Global coordinates can be mapped to a geographic coordinate system via `osi3::GroundTruth::proj_string`. + +Sensor coordinate system:: +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:: +Local object coordinate system. +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/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc new file mode 100644 index 000000000..6096fbb76 --- /dev/null +++ b/doc/architecture/sensor_data.adoc @@ -0,0 +1,7 @@ += Sensor data + +`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 new file mode 100644 index 000000000..423ea0668 --- /dev/null +++ b/doc/architecture/sensor_model.adoc @@ -0,0 +1,4 @@ += Sensor model + +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 new file mode 100644 index 000000000..394d26ab4 --- /dev/null +++ b/doc/architecture/sensor_view.adoc @@ -0,0 +1,9 @@ += Sensor view + +The sensor view provides the input to OSI sensor models. +`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. + 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 new file mode 100644 index 000000000..9bba9d973 --- /dev/null +++ b/doc/architecture/sensor_view_configuration.adoc @@ -0,0 +1,34 @@ += 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 `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. + +`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. +If the input does not match the requirements, the sensor model may terminate the simulation. + +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 `SensorViewConfiguration` data: + +. `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. ++ +. `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. +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 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 `SensorView` message. \ 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..510797dff --- /dev/null +++ b/doc/architecture/trace_file_formats.adoc @@ -0,0 +1,18 @@ += OSI trace file formats + +There are multiple formats for storing multiple serialized OSI messages in one trace file. + +*.osi:: +Binary trace file. +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. + +*.txt:: +Plain-text trace file. +Messages are separated by `$$__$$`. + +*.txth:: +Human-readable plain-text trace file. +Messages are separated by newlines. +These files may be used for manual checks. diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc new file mode 100644 index 000000000..6899b8ce9 --- /dev/null +++ b/doc/architecture/trace_file_naming.adoc @@ -0,0 +1,58 @@ += OSI trace file naming conventions + +**Name format** + +The names of OSI trace files should have the following format: + +---- +_____.osi +---- + +**Types** + +`sd`:: +Trace file contains `SensorData` messages. + +`sv`:: +Trace file contains `SensorView` messages. + +`gt`:: +Trace file contains `GroundTruth` messages. + +`tu`:: +Trace file contains `TrafficUpdate` messages. + +`tc`:: +Trace file contains `TrafficCommand` messages. + + +**Example** + +Given an OSI trace file with the following information: + +[cols="1,1"] +|=== +|Timestamp (ISO 8601) cite:[iso8601] +|20210818T150542Z + +|Type +|SensorView + +|OSI version +|3.1.2 + +|Protobuf version +|3.0.0 + +|Number of frames +|1523 + +|Custom trace name +|highway +|=== + +The recommended file name is: + +---- +20210818T150542Z_sv_312_300_1523_highway.osi +---- diff --git a/doc/architecture/traffic_command.adoc b/doc/architecture/traffic_command.adoc new file mode 100644 index 000000000..b8fd41657 --- /dev/null +++ b/doc/architecture/traffic_command.adoc @@ -0,0 +1,3 @@ += Traffic command + +`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_participant.adoc b/doc/architecture/traffic_participant.adoc new file mode 100644 index 000000000..5e6ccd993 --- /dev/null +++ b/doc/architecture/traffic_participant.adoc @@ -0,0 +1,31 @@ += Traffic participant + +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: + +- 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 a means of transportation. +The ego vehicle is therefore also a traffic participant. + +The following figure shows the interface of a traffic participant. + +.Interface of a traffic participant +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::{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. +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, 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 new file mode 100644 index 000000000..e788df8be --- /dev/null +++ b/doc/architecture/traffic_update.adoc @@ -0,0 +1,4 @@ += Traffic update + +`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 diff --git a/doc/architecture/vehicle_dynamics.adoc b/doc/architecture/vehicle_dynamics.adoc new file mode 100644 index 000000000..bb2faea14 --- /dev/null +++ b/doc/architecture/vehicle_dynamics.adoc @@ -0,0 +1,3 @@ += Vehicle dynamics + +TODO: Content to be added in future release. 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/images/OSI_LaneBoundaries_And_SurfaceLines.svg b/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg new file mode 100644 index 000000000..6224495a9 --- /dev/null +++ b/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg @@ -0,0 +1,1171 @@ +<?xml version="1.0" encoding="UTF-8" standalone="no"?> +<svg + height="570" + version="1.1" + width="1920" + id="svg2228" + sodipodi:docname="OSI_LaneBoundaries_And_SurfaceLines.svg" + inkscape:version="1.1 (c68e22c387, 2021-05-23)" + viewBox="0 0 3840 0.010555556" + inkscape:export-filename="M:\git\OSI_LaneBoundaries_And_CenterLine.png" + inkscape:export-xdpi="150" + inkscape:export-ydpi="150" + xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" + xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" + 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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_vision.adoc b/doc/misc/osi_vision.adoc new file mode 100644 index 000000000..f0bc4ec3a --- /dev/null +++ b/doc/misc/osi_vision.adoc @@ -0,0 +1,5 @@ += Idea behind Open Simulation Interface + +{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 diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc new file mode 100644 index 000000000..6c25b9440 --- /dev/null +++ b/doc/open-simulation-interface_user_guide.adoc @@ -0,0 +1,143 @@ +ifndef::THIS_STANDARD[] + +:asciidoc-resources: ../asciidoc-resources +include::{asciidoc-resources}/preamble.adoc[] + +:revnumber: --localbuild-- +:revdate: {docdate} + +:topicdir: topics +:reusedir: reuse + +:imagesdir: . +:images_open_simulation_interface: ./images + + +endif::[] + += Open Simulation Interface + + +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] + +include::./architecture/traffic_command.adoc[leveloffset=+3] + +include::./architecture/traffic_update.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::./usecases/modeling_traffic_participant.adoc[leveloffset=+4] + +//include::./architecture/vehicle_dynamics.adoc[leveloffset=+3] + +=== Coordinate systems and reference points + +include::./architecture/reference_points_coordinate_systems.adoc[leveloffset=+3] + +include::./usecases/transforming_coordinate_systems.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_cpp.adoc[leveloffset=+2] + +include::./setup/installing_linux_python.adoc[leveloffset=+2] + +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/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 + +include::./releases/versioning.adoc[leveloffset=+2] + +include::./releases/releases.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] +//// \ No newline at end of file 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..88d8f4619 --- /dev/null +++ b/doc/releases/releases.adoc @@ -0,0 +1 @@ += Releases diff --git a/doc/releases/v02.00.adoc b/doc/releases/v02.00.adoc new file mode 100644 index 000000000..38f903060 --- /dev/null +++ b/doc/releases/v02.00.adoc @@ -0,0 +1,32 @@ += 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 + +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. + +== Detailed description + + +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:: ++ +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/v02.00.rst b/doc/releases/v02.00.rst deleted file mode 100644 index a05d1dc29..000000000 --- a/doc/releases/v02.00.rst +++ /dev/null @@ -1,25 +0,0 @@ -`v2.0.0 - OSI Initial Commit <https://github.com/OpenSimulationInterface/open-simulation-interface/releases/tag/v2.0.0>`_ -============================ - -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. - -Implementation: ----------------- -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**: -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**: -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..f76ea7b80 --- /dev/null +++ b/doc/releases/v03.00.adoc @@ -0,0 +1,57 @@ += 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 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] + +* 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 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 cite:[iso23150]. +* 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..bc694ff99 --- /dev/null +++ b/doc/releases/v03.01.adoc @@ -0,0 +1,37 @@ += 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 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! + +== 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..28fa51e97 --- /dev/null +++ b/doc/releases/v03.02.adoc @@ -0,0 +1,38 @@ += 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..457c12e21 --- /dev/null +++ b/doc/releases/v03.03.adoc @@ -0,0 +1,39 @@ += 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 led to wrong versioning in proto definitions and Doxygen documentation. +* **Bug Fix**: Removed outdated picture in README.md. diff --git a/doc/releases/v03.03.rst b/doc/releases/v03.03.rst index 77c96f95f..f82d39811 100644 --- a/doc/releases/v03.03.rst +++ b/doc/releases/v03.03.rst @@ -31,6 +31,10 @@ 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 +<<<<<<< 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>`_ @@ -38,5 +42,17 @@ 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. +======= +- 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 +======= +- **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 diff --git a/doc/setup/including_osi_dev_projects.adoc b/doc/setup/including_osi_dev_projects.adoc new file mode 100644 index 000000000..15c3d3153 --- /dev/null +++ b/doc/setup/including_osi_dev_projects.adoc @@ -0,0 +1,17 @@ += Including OSI in development projects + +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_linux_cpp.adoc b/doc/setup/installing_linux_cpp.adoc new file mode 100644 index 000000000..540eb1de4 --- /dev/null +++ b/doc/setup/installing_linux_cpp.adoc @@ -0,0 +1,54 @@ += Installing OSI for C++ on Linux + +**Prerequisites** + +* You have installed _cmake_. +* You have installed _protobuf_. +* You must have super user privileges. + +**Steps** + +. Open a terminal. +. Clone the Open Simulation repository. ++ +---- +git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git +---- ++ +. Switch to the repository directory. ++ +---- +cd open-simulation-interface +---- ++ +. Create a new directory for the build. ++ +---- +mkdir build +---- ++ +. Switch to the new directory. ++ +---- +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. ++ +---- +cmake .. +---- ++ +. Run make. ++ +---- +make +---- ++ +. Install Open Simulation Interface. ++ +---- +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..84f507461 --- /dev/null +++ b/doc/setup/installing_linux_python.adoc @@ -0,0 +1,48 @@ += Installing OSI for Python on Linux + +**Prerequisites** + +* You have installed _pip3_. +* You have installed _python-setuptools_. +* You have installed _protobuf_. +* For a local installation, you have installed _virtualenv_. + +**Steps** + +. Open a terminal. +. Clone the Open Simulation repository. ++ +---- +git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git +---- ++ +. Switch to the repository directory. ++ +---- +cd open-simulation-interface +---- ++ +. Create a new virtual environment. ++ +---- +virtualenv -p python3 venv +---- ++ +. Activate the virtual environment. ++ +---- +source venv/bin/activate +---- ++ +. Install Open Simulation Interface. +.. Local installation ++ +---- +pip3 install . +---- ++ +.. Global installation ++ +---- +sudo pip3 install . +---- diff --git a/doc/setup/installing_macos.adoc b/doc/setup/installing_macos.adoc new file mode 100644 index 000000000..4fffb36c3 --- /dev/null +++ b/doc/setup/installing_macos.adoc @@ -0,0 +1,17 @@ += Installing OSI on MacOS + +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_windows_cpp.adoc b/doc/setup/installing_windows_cpp.adoc new file mode 100644 index 000000000..d365803f1 --- /dev/null +++ b/doc/setup/installing_windows_cpp.adoc @@ -0,0 +1,48 @@ += Installing OSI for C++ on Windows + +**Prerequisites** + +* You have installed _cmake_ as an administrator. +* You have installed _protobuf_ as an administrator. + +**Steps** + +. Open a terminal as administrator. +. Clone the Open Simulation repository. ++ +---- +git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git +---- ++ +. Switch to the repository directory. ++ +---- +cd open-simulation-interface +---- ++ +. Create a new directory for the build. ++ +---- +mkdir build +---- ++ +. Switch to the new directory. ++ +---- +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. ++ +---- +cmake .. [-G <generator>] [-DCMAKE_INSTALL_PREFIX=<osi-install-directory>] +---- ++ +. Build and install OSI. ++ +---- +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..660428d53 --- /dev/null +++ b/doc/setup/installing_windows_python.adoc @@ -0,0 +1,27 @@ += 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. ++ +---- +git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git +---- ++ +. Switch to the repository directory. ++ +---- +cd open-simulation-interface +---- ++ +. Run the setup script. ++ +---- +python setup.py install +---- diff --git a/doc/setup/using_osi_support_tools.adoc b/doc/setup/using_osi_support_tools.adoc new file mode 100644 index 000000000..952260da1 --- /dev/null +++ b/doc/setup/using_osi_support_tools.adoc @@ -0,0 +1,17 @@ += Using OSI supporting tools + +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 new file mode 100644 index 000000000..83d2098ef --- /dev/null +++ b/doc/usecases/benchmark_integration_gpu_radar.adoc @@ -0,0 +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 + +// 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 new file mode 100644 index 000000000..0d20baf54 --- /dev/null +++ b/doc/usecases/fusing_sensor_outputs.adoc @@ -0,0 +1,17 @@ += Fusing sensor outputs + +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 new file mode 100644 index 000000000..2dd888a7e --- /dev/null +++ b/doc/usecases/generating_osi_traces.adoc @@ -0,0 +1,17 @@ += Generating OSI traces + +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 new file mode 100644 index 000000000..047d55c9a --- /dev/null +++ b/doc/usecases/injecting_faults.adoc @@ -0,0 +1,17 @@ += Injecting faults + +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 new file mode 100644 index 000000000..a9cd48a70 --- /dev/null +++ b/doc/usecases/modeling_camera_electronics.adoc @@ -0,0 +1,17 @@ += Modeling camera electronics + +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 new file mode 100644 index 000000000..45552354b --- /dev/null +++ b/doc/usecases/modeling_lidar_sensor.adoc @@ -0,0 +1,15 @@ += Modeling a LIDAR sensor + +// 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_traffic_participant.adoc b/doc/usecases/modeling_traffic_participant.adoc new file mode 100644 index 000000000..e3d10e7c2 --- /dev/null +++ b/doc/usecases/modeling_traffic_participant.adoc @@ -0,0 +1,49 @@ += Modeling a traffic participant + +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. +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 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. +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 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. +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 new file mode 100644 index 000000000..ab69d80b5 --- /dev/null +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -0,0 +1,35 @@ += Coordinate transformations + +== Vehicle and sensor coordinate systems + +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 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 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 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. + +``SensorData::mounting_position``:: +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** + +The following image shows the relationship between the coordinate systems. +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. + +image::{images_open_simulation_interface}/osi_example_coordinate_systems.png[] \ 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 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 diff --git a/flatbuffers b/flatbuffers new file mode 160000 index 000000000..6df40a247 --- /dev/null +++ b/flatbuffers @@ -0,0 +1 @@ +Subproject commit 6df40a2471737b27271bdd9b900ab5f3aec746c7 diff --git a/osi_common.proto b/osi_common.proto index 7ab5852ec..5085541c1 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 // @@ -143,25 +143,23 @@ 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 // 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$ -// )*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. @@ -215,6 +213,68 @@ message Identifier optional uint64 value = 1; } +// \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. +// +// \note ExternalReference is optional and can be left empty. +// +message ExternalReference +{ + // 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. The syntax should follow + // \link https://tools.ietf.org/html/rfc3986 RFC 3986\endlink. + // + // + optional string reference = 1; + + // The type of the external references. + // + // 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, + // 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. + // + // The repeated string is chosen as a common description of the external + // identifier, because a variety of identificatier types could be + // involved . + // + // 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 is given in the individual + // messages where the external identifier is used. + // + // \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; +} + // // \brief Specifies the mounting position of a sensor. // @@ -491,6 +551,7 @@ message StatePoint // optional Orientation3d orientation = 3; } + // // \brief Detailed WavelengthRange message. // @@ -518,3 +579,326 @@ 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; +} + +// +// \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; +} + +// +// \brief 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 + // + // Unit: deg + // Range: [0,360[ + // + 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; +} + +// +// \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; +} + +// +// \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. 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. 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 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 + // + optional double torque = 3; +} + +// +// \brief The geodetic position of an object, that is, the center of the 3D 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; +} + +// +// \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_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_environment.proto b/osi_environment.proto index be5d830a8..5aafe2cac 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; // @@ -85,6 +87,19 @@ message EnvironmentalConditions // Description of the fog. // optional Fog fog = 7; + + // 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 + // source_reference is resolved. + // + // \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; // Definition of discretized precipitation states according to [1]. // (I = Intensity of precipitation in mm per hour mm/h) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 0c9adafae..27d7bcbf9 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -449,6 +449,24 @@ message LidarDetection // Lambertian reflectivity. // 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 individual detection. + // The echo pulse is measured in m and measures the extent of the object parts or atmospheric particles that produce the echo. + // \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 + // + // \rules + // 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; } // @@ -853,6 +871,10 @@ 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. @@ -885,8 +907,16 @@ message CameraDetection // optional uint32 number_of_points = 32; + // + // The dominant color of the shape. + // + optional ColorDescription color_description = 33; + // 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_hostvehicledata.proto b/osi_hostvehicledata.proto index 711f7fcc6..7049cc4c7 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -2,31 +2,522 @@ 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 its own internal states. +// 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. // -// \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: +// Basics, powertrain, brake system, steering, wheels and 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 = 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 + // 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 = 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 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; - // Current estimated location error based on GPS- and related navigation + // Deprecated: Will be removed in next major release. Moved to vehicle_localization. + // 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 brake system. + // + optional VehicleBrakeSystem vehicle_brake_system = 5; + + // Interface regarding the steering. + // + optional VehicleSteering vehicle_steering = 6; + + // Interface regarding the internal wheel states. + // + optional VehicleWheels vehicle_wheels = 7; + + // Interface regarding the localization. + // + optional VehicleLocalization vehicle_localization = 8; + + // State of any automated driving functions. + // + // 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 + { + // 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 + { + // 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 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 + // 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 more than 1 + // reverse mode gears) + // + optional int32 gear_transmission = 3; + + // Information about the motor(s). + // + repeated Motor motor = 4; + + // + // \brief A description of the motor states. + // + message Motor + { + // The type of the motor. + // + optional Type type = 1; + + // Revolutions per minute of the motor. + // + // Unit: 1/min + // + optional double rpm = 2; + + // Torque of the motor. + // + // Unit: N*m + // + optional double torque = 3; + + // Definition which type of motor is used. + // + enum Type + { + // The motor type is unknown. + // + TYPE_UNKNOWN = 0; + + // It is another motor type. + // + 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 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 internal wheel states. + // + 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 internal wheel states. + // + message WheelData + { + // The axle which contains this wheel. A value of 0 represents the + // 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, 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 also works 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, that is, the 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: + // [1] kfz-tech.de, Schlupf, Retrieved June 30, 2021, from 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, that is, the 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. + // 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 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 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 in the on-board network + // 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_lane.proto b/osi_lane.proto index b9b1cce10..c064643d1 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -50,6 +50,30 @@ message Lane // optional Classification classification = 2; + // Optional external reference to the lane source. + // + // The external reference points to the source of the lane, if it is derived + // 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 follows: + // * reference = URI to map, can remain empty if identical with definiton + // in \c GroundTruth::map_reference + // * 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, + // t_road_lanes_laneSection_right_lane + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \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; + // // \brief \c Classification of a lane. // @@ -184,7 +208,17 @@ 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, // the order of points is recommended to be in line with the road coordinate @@ -213,8 +247,21 @@ 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 + // + repeated Vector3d centerline = 3; +======= + 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 intended driving direction. // @@ -230,7 +277,19 @@ message Lane // \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 + // + optional bool centerline_is_driving_direction = 4; +======= + 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 @@ -704,8 +763,7 @@ 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. // @@ -724,6 +782,28 @@ message LaneBoundary // The classification of the lane boundary. // optional Classification classification = 3; + + // Optional external reference to the lane boundary source. + // + // \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 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; + + // 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. @@ -771,6 +851,52 @@ 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. 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 + { + // 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 = 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 = 3; + + // 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. 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; + } } // @@ -867,7 +993,10 @@ 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; @@ -898,7 +1027,7 @@ 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; @@ -947,12 +1076,23 @@ message LaneBoundary // A structure (e.g. building or tunnel wall). // TYPE_STRUCTURE = 13; + + // 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; } - // 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 @@ -993,6 +1133,10 @@ message LaneBoundary // Marking with violet color. // COLOR_VIOLET = 8; + + // Marking with orange color. + // + COLOR_ORANGE = 9; } } } diff --git a/osi_object.proto b/osi_object.proto index cb0b80b5d..215062706 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -40,6 +40,45 @@ message StationaryObject // optional string model_reference = 4; + // External reference to the stationary-object source. + // + // The external reference points to the source of a stationary object, if it + // is derived from an external sources like OpenDRIVE or OpenSCENARIO. + // + // 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" + // * 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 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") + // * identifier[1] = name of MiscObject in Entity + // + // \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 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; + + // The dominating color of the material of the structure. + // + optional ColorDescription color_description = 6; + // // \brief Classification data for a stationary object. // @@ -59,8 +98,32 @@ 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) of + // \c StationaryObject 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 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 = 6; + + // Percentage values of the object width in the corresponding lane. + // + // \note Might be multiple percentages if the object stretches over multiple lanes. + // + // \note OSI uses singular instead of plural for repeated field names. + // + repeated double assigned_lane_percentage = 7; + // Definition of object types. // enum Type @@ -128,16 +191,25 @@ 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; // Landmarks corresponding to construction site elements in the - // environment, like cones or beacons. + // environment, like beacons. // TYPE_CONSTRUCTION_SITE_ELEMENT = 16; + + // 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. @@ -218,6 +290,10 @@ 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). @@ -264,6 +340,26 @@ message StationaryObject // COLOR_WHITE = 10; } + + // + // \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 emitted wavelength and its + // desired number of samples. + // + repeated WavelengthData wavelength_data = 1; + + // Spatial signal strength distribution of the emitted electromagnetic wave. + // For every sample in wavelength_data an emitted_spatial_signal_strength has to be defined. + // + // \note emitted_spatial_signal_strength.size() = WavelengthData.samples_number.size() + // + repeated SpatialSignalStrength emitted_spatial_signal_strength = 3; + } } } @@ -359,6 +455,34 @@ message MovingObject // optional MovingObjectClassification moving_object_classification = 9; + // Optional external reference to the moving-object source + // + // The external reference points to the source of an moving object, if it + // is derived from an external sources like OpenSCENARIO. + // + // 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") + // * identifier[1] = name of Vehicle/Pedestrian in Entity + // + // \todo OpenSCENARIO 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 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; + + // The dominating color of the material of the moving object. + // + optional ColorDescription color_description = 11; + // Definition of object types. // enum Type @@ -389,7 +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 @@ -573,6 +697,7 @@ message MovingObject // \note OSI uses singular instead of plural for repeated field names. // repeated double assigned_lane_percentage = 2; + } // @@ -606,6 +731,22 @@ message MovingObject // Definition of vehicle types. // + // \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 { // Type of vehicle is unknown (must not be used in ground truth). @@ -642,19 +783,38 @@ message MovingObject // Vehicle is a delivery van. // - // Definition: A delivery van. + // \image html OSI_TYPE_DELIVERY_VAN.svg // TYPE_DELIVERY_VAN = 6; - // Vehicle is a heavy truck. + // Vehicle is a (heavy) truck. + // + // \image html OSI_TYPE_HEAVY_TRUCK.svg // TYPE_HEAVY_TRUCK = 7; - // Vehicle is a truck with semitrailer. + // 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 + // semi-tractor. + // + // \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 (possibly attached to another vehicle). + // Vehicle is a trailer. + // + // \note The vehicle can be, but doesn't need to be, + // attached to another vehicle. + // + // \image html OSI_TYPE_TRAILER.svg // TYPE_TRAILER = 9; diff --git a/osi_occupant.proto b/osi_occupant.proto index 131e109fa..8b7f6ea83 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 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 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; + // // \brief Information regarding the classification of the occupant. // diff --git a/osi_roadmarking.proto b/osi_roadmarking.proto index fd8cd0378..0b9ce9a95 100644 --- a/osi_roadmarking.proto +++ b/osi_roadmarking.proto @@ -55,6 +55,41 @@ message RoadMarking // optional Classification classification = 3; + // Optional external reference to the road-marking source. + // + // 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. + // + // 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" + // * identifier[0] = id of t_road_signals_signal + // + // \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, 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; + + // 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. // @@ -73,6 +108,12 @@ 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 @@ -80,7 +121,11 @@ 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). @@ -119,15 +164,98 @@ 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 completly covering a road marking making it not visible. + // This can be achieved by visibly crossing the road marking with stripes, + // or completely covering a road marking making it not visible. // // \image html OSI_RoadMaking_is_out_of_service.jpg width=800px // optional bool is_out_of_service = 7; + // 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; + + // 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 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; + + // 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. // enum Type @@ -170,7 +298,10 @@ 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 { @@ -206,6 +337,10 @@ message RoadMarking // Marking with violet color. // COLOR_VIOLET = 8; + + // Marking with orange color. + // + COLOR_ORANGE = 9; } } } diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 3df348a54..5af4a7a91 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -190,6 +190,15 @@ message SensorViewConfiguration // Unit: s optional Timestamp simulation_start_time = 10; + // Omit Static Information + // + // 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; + // Generic Sensor View Configuration(s). // // \note OSI uses singular instead of plural for repeated field names. diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto new file mode 100644 index 000000000..67d2daf14 --- /dev/null +++ b/osi_surfaceline.proto @@ -0,0 +1,373 @@ +syntax = "proto2"; + +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; + +// A lane's surface line (as a list of segments). +// +<<<<<<< HEAD +<<<<<<< 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. +// 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. +<<<<<<< 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 +// 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 +<<<<<<< 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). +// +// \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 +<<<<<<< HEAD +<<<<<<< HEAD +======= +>>>>>>> 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. +<<<<<<< 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 +======= +>>>>>>> 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 +<<<<<<< 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 +======= +>>>>>>> Update osi_surfaceline.proto +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 +<<<<<<< HEAD +<<<<<<< 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 +======= + // 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 + // 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. + // +<<<<<<< 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. + // + // 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 + // 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 + // exists. + // + 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). + // + // \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, 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; + + // 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 If there is no right adjacent surface line, this will mean its located at the + // right LaneBoundary + // + optional Identifier right_adjacent_surfaceline_id = 5; + + // \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. + // + 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; + } +} + + +======= + // \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 +======= + // \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; + + // 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 there is no left adjacent surface line, this will mean its located at the + // left LaneBoundary. + // + // \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; + + // 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 If there is no right adjacent surface line, this will mean its located at the + // right LaneBoundary + // + optional Identifier right_adjacent_surfaceline_id = 5; + + // \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 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 bool is_at_right_lane_boundary = 7; + + // Id of the corresponding lane that this surface line belongs to + // + optional Lane.Identifier lane = 8; + + // \brief Definition of the points that make up a surface line + // + message SurfaceLinePoint { + + // 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 { + + // 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 diff --git a/osi_trafficcommand.proto b/osi_trafficcommand.proto index da0b6c9dd..6bd2da8d4 100644 --- a/osi_trafficcommand.proto +++ b/osi_trafficcommand.proto @@ -487,9 +487,21 @@ 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. 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. + // + optional string command_type = 3; } // \brief Longitudinal Distance Action diff --git a/osi_trafficlight.proto b/osi_trafficlight.proto index 0aef80e7c..ace90bccd 100644 --- a/osi_trafficlight.proto +++ b/osi_trafficlight.proto @@ -42,12 +42,44 @@ message TrafficLight // optional string model_reference = 4; + // Optional external reference to the traffic light source. + // + // The external reference points to the source of the traffic light, if it + // 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 follows: + // * 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 + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \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; + + // 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. // 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 @@ -95,7 +127,10 @@ 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 { diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 3c9ac589b..7436e81c0 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -156,6 +156,32 @@ message TrafficSign // repeated SupplementarySign supplementary_sign = 3; + + // Optional external reference to the traffic sign source. + // + // The external reference point to the source of the traffic sign, if it 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 follows: + // * 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 + // + // \note For non-ASAM Standards, it is implementation-specific how + // source_reference is resolved. + // + // \note If an individual identification of MainSign and SupplementarySign + // is necessary, this should be done via multiple individual + // entries of this source_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; + // // \brief Main sign of the traffic sign. // @@ -225,6 +251,12 @@ message TrafficSign // The type of the traffic sign. // + // \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 @@ -256,6 +288,12 @@ message TrafficSign // might have been intentionally unmounted and, hence, not be in // effect. // + // \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. @@ -280,12 +318,64 @@ message TrafficSign // As for every boolean in the protocol buffers language, the // default value of \c #vertically_mirrored is \c false. // + // \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. - // 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; + + // 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; + + // 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 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 bool is_out_of_service = 7; + optional string code = 10; + + // 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; // Definition of traffic sign types. // Numbers are given according to German StVO. @@ -306,6 +396,12 @@ message TrafficSign // https://www.gesetze-im-internet.de/stvo_2013/anlage_4.html // (Verkehrseinrichtungen) \arg https://traffic-rules.com/ // + // \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 @@ -5498,6 +5594,12 @@ message TrafficSign // Type of the supplementary sign. // + // \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. @@ -5527,17 +5629,75 @@ message TrafficSign // bikes, cars, trucks and so on), that the supplementary sign // makes reference to. // + // \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: 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. - // 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; + // 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; + + // 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 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; + + // 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; + // Definition of supplementary sign types. // // For general supplementary signs use \c #TYPE_TEXT. @@ -5551,6 +5711,13 @@ 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. + // + // \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 diff --git a/osi_trafficupdate.proto b/osi_trafficupdate.proto index 5a05344ae..5b157c668 100644 --- a/osi_trafficupdate.proto +++ b/osi_trafficupdate.proto @@ -5,17 +5,20 @@ option optimize_for = SPEED; import "osi_version.proto"; import "osi_common.proto"; import "osi_object.proto"; +import "osi_hostvehicledata.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. +// \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. @@ -45,5 +48,24 @@ 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; + + // 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; }