From 93be9e0c0970e08b36b733bda0542c1fb6882164 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Tue, 6 Sep 2022 17:47:44 +0200 Subject: [PATCH 001/164] Initial setup for Antora Signed-off-by: Philip Windecker --- .antora/antora.yml | 9 +++ .antora/modules/interface/images | 1 + .antora/modules/interface/nav.adoc | 22 +++++++ .antora/modules/interface/pages | 1 + doc/_config.adoc | 57 +++++++++++++++++++ doc/architecture/architecture_overview.adoc | 5 ++ doc/architecture/data_layer.adoc | 5 ++ .../environmental_effect_model.adoc | 5 ++ doc/architecture/feature_data.adoc | 5 ++ doc/architecture/formatting_scripts.adoc | 5 ++ doc/architecture/ground_truth.adoc | 5 ++ doc/architecture/logical_model.adoc | 5 ++ doc/architecture/packaging_layer.adoc | 5 ++ doc/architecture/proto-files.adoc | 5 ++ .../reference_points_coordinate_systems.adoc | 5 ++ doc/architecture/sensor_data.adoc | 5 ++ doc/architecture/sensor_model.adoc | 5 ++ doc/architecture/sensor_view.adoc | 5 ++ .../sensor_view_configuration.adoc | 5 ++ doc/architecture/test_scripts.adoc | 5 ++ doc/architecture/trace_file_formats.adoc | 5 ++ doc/architecture/trace_file_naming.adoc | 5 ++ doc/architecture/traffic_command.adoc | 6 ++ doc/architecture/traffic_participant.adoc | 5 ++ doc/architecture/traffic_update.adoc | 5 ++ doc/architecture/vehicle_dynamics.adoc | 5 ++ doc/misc/osi_vision.adoc | 5 ++ doc/open-simulation-interface_user_guide.adoc | 24 +++----- doc/setup/including_osi_dev_projects.adoc | 5 ++ doc/setup/installing_linux_cpp.adoc | 5 ++ doc/setup/installing_linux_python.adoc | 5 ++ doc/setup/installing_macos.adoc | 5 ++ doc/setup/installing_windows_cpp.adoc | 5 ++ doc/setup/installing_windows_python.adoc | 5 ++ doc/setup/using_osi_support_tools.adoc | 5 ++ .../benchmark_integration_gpu_radar.adoc | 5 ++ doc/usecases/fusing_sensor_outputs.adoc | 5 ++ doc/usecases/generating_osi_traces.adoc | 5 ++ doc/usecases/injecting_faults.adoc | 5 ++ doc/usecases/modeling_camera_electronics.adoc | 5 ++ doc/usecases/modeling_lidar_sensor.adoc | 5 ++ .../modeling_traffic_participant.adoc | 5 ++ .../transforming_coordinate_systems.adoc | 5 ++ local_build_tools/asciidoctor.bat | 3 + local_build_tools/compose.yml | 8 +++ .../windows_convert_symlinks(ADMIN).bat | 13 +++++ 46 files changed, 307 insertions(+), 17 deletions(-) create mode 100644 .antora/antora.yml create mode 120000 .antora/modules/interface/images create mode 100644 .antora/modules/interface/nav.adoc create mode 120000 .antora/modules/interface/pages create mode 100644 doc/_config.adoc create mode 100644 local_build_tools/asciidoctor.bat create mode 100644 local_build_tools/compose.yml create mode 100644 local_build_tools/windows_convert_symlinks(ADMIN).bat diff --git a/.antora/antora.yml b/.antora/antora.yml new file mode 100644 index 000000000..24a252841 --- /dev/null +++ b/.antora/antora.yml @@ -0,0 +1,9 @@ +# Component name (without spaces!). All content repositories with the same component name are merged in Antora. +name: asamosi +version: + # Update version number accordingly. This is the version for the main branch + main: 'current' + v(*): V$1 + V(*): V$1 + # Update version number accordingly. This is the version for any other activated branch (branch must be added in the generator site.yml!). Schema = 0.0.x- (only works for branches starting with "feature/") + (*): '3.6.0-$1' diff --git a/.antora/modules/interface/images b/.antora/modules/interface/images new file mode 120000 index 000000000..6e64422d3 --- /dev/null +++ b/.antora/modules/interface/images @@ -0,0 +1 @@ +../../../doc/images \ No newline at end of file diff --git a/.antora/modules/interface/nav.adoc b/.antora/modules/interface/nav.adoc new file mode 100644 index 000000000..fe006b5c6 --- /dev/null +++ b/.antora/modules/interface/nav.adoc @@ -0,0 +1,22 @@ +[preface] +* xref:00_preface/00_foreword.adoc[] +[preface] +* xref:00_preface/01_introduction.adoc[] +* xref:01_scope/01_scope.adoc[] +* xref:02_normative_references/01_normative_references.adoc[] +* xref:03_terms_and_definitions/01_terms_and_definitions.adoc[] +* xref:04_abbreviations/01_abbreviations.adoc[] +* xref:05_backward_compatibility/01_backward_compatibility.adoc[] + +[appendix] +* xref:xx_annexes/REPLACE_ME.adoc[] +[bibliography] +* xref:bibliography.adoc[] + +:sectnums!: +* xref:list_of_figures.adoc[] + +:sectnums!: +* xref:list_of_tables.adoc[] + +// TODO Replace with generator \ No newline at end of file diff --git a/.antora/modules/interface/pages b/.antora/modules/interface/pages new file mode 120000 index 000000000..b8f77893d --- /dev/null +++ b/.antora/modules/interface/pages @@ -0,0 +1 @@ +../../../doc \ No newline at end of file diff --git a/doc/_config.adoc b/doc/_config.adoc new file mode 100644 index 000000000..9b86316b4 --- /dev/null +++ b/doc/_config.adoc @@ -0,0 +1,57 @@ + +// This file contains AsciiDoc attributes that shall be used in every AsciiDoc file. +// NOTE: Its content is only applied for Asciidoctor! +// If the same attribute is defined in the antora.yml (without @), the antora.yml definition takes precedence for Antora. + +ifndef::root-path[:root-path: ./] + +:partials-path: {root-path}../_additional_content +:asciidoc-resources: ../asciidoc-resources +:appendix-caption: Annex + +// ifndef::use-antora-rules,include-only-once[] +ifndef::include-only-once[] +:GLO_VAR_STA_ASAM_OpenCRG: ASAM OpenCRG +:glo_var_sta_asam_opencrg: {GLO_VAR_STA_ASAM_OpenCRG} +:GLO_VAR_STA_ASAM_OpenDRIVE: ASAM OpenDRIVE +:GLO_VAR_STA_ASAM_OpenLABEL: ASAM OpenLABEL +:GLO_VAR_STA_ASAM_OpenODD: ASAM OpenODD +:GLO_VAR_STA_ASAM_OSI: ASAM OSI® +:GLO_VAR_STA_ASAM_OpenSCENARIO: ASAM OpenSCENARIO +:GLO_VAR_STA_ASAM_OpenXOntology: ASAM OpenXOntology +:GLO_VAR_STA_BSI_PAS_1883: BSI PAS 1883 +:revnumber: --localbuild-- +:revdate: {docdate} +:bibtex-file: ./content/general_docs/bibliography.bib +// Replace PLACEHOLDER with the name of your standard, e.g. OpenDRIVE +:THIS_STANDARD: {GLO_VAR_STA_ASAM_OSI} +:asam-terminology: https://code.asam.net/common/asam-terminology/-/raw/main/terms_and_definitions_opendrive.adoc +:imagesdir: {root-path}/images +:include-only-once: true +:topicdir: topics +:reusedir: reuse +:toclevels: 3 +:xrefstyle: full +:images_open_simulation_interface: ./open-simulation-interface/doc/images +// :images_osi-sensor-model-packaging: ./osi-sensor-model-packaging/doc/images +:doc_open_simulation_interface: ../../open-simulation-interface/doc/ +:doc_osi-sensor-model-packaging: ../../osi-sensor-model-packaging/doc/ +// Since a document spanning multiple repos is rendered here, the pathing regarding images is a bit involved. +// We create a variable for every repo that is included. It point to the repo in question. +// If the subrepo is rendered seperatly, then the variable is set to just "./images" with ifdef. +// Please note that this variable has to used in all image includes. Includes here have to use "image::./images..." +// :images_osi_sensor_model_packaging: ./osi-sensor-model-packaging/doc/images // example +:imagesoutdir: ./images/generated_images + +endif::[] + +ifndef::use-antora-rules[] +include::{asciidoc-resources}/preamble.adoc[] +endif::[] + +ifdef::env-gitlab[] +:relfilesuffix: .adoc +endif::[] + + +:asciidoc-resources: ../0_resources \ No newline at end of file diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index f0d8b4f9b..2ff070951 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -1,5 +1,10 @@ = Overview of OSI architecture +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + OSI contains an object-based environment description that uses the message format of the https://github.com/protocolbuffers/protobuf/wiki[Protocol Buffer] library. Google developed and maintains the Protocol Buffer library. OSI defines top-level messages that are used to exchange data between separate models. diff --git a/doc/architecture/data_layer.adoc b/doc/architecture/data_layer.adoc index a0d4c6770..c23067af3 100644 --- a/doc/architecture/data_layer.adoc +++ b/doc/architecture/data_layer.adoc @@ -1,5 +1,10 @@ = Data layer +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + 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. diff --git a/doc/architecture/environmental_effect_model.adoc b/doc/architecture/environmental_effect_model.adoc index 89bc02b7e..1c5050eff 100644 --- a/doc/architecture/environmental_effect_model.adoc +++ b/doc/architecture/environmental_effect_model.adoc @@ -1,5 +1,10 @@ = Environmental effect model +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + 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: diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc index 79527d6f9..70743ba08 100644 --- a/doc/architecture/feature_data.adoc +++ b/doc/architecture/feature_data.adoc @@ -1,5 +1,10 @@ = Feature data +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + `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 index 2ff767ce4..fd1d23e65 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -1,5 +1,10 @@ = Trace-file formatting scripts +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + 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/` diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index 2a03bc137..d54d2d843 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -1,5 +1,10 @@ = Ground truth +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + `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 index 3fec5de78..c694f2214 100644 --- a/doc/architecture/logical_model.adoc +++ b/doc/architecture/logical_model.adoc @@ -1,5 +1,10 @@ = Logical model +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + 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. diff --git a/doc/architecture/packaging_layer.adoc b/doc/architecture/packaging_layer.adoc index c8f62b2bd..ba29622f2 100644 --- a/doc/architecture/packaging_layer.adoc +++ b/doc/architecture/packaging_layer.adoc @@ -1,5 +1,10 @@ = Packaging layer +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + 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. diff --git a/doc/architecture/proto-files.adoc b/doc/architecture/proto-files.adoc index a5ee64802..2c638a259 100644 --- a/doc/architecture/proto-files.adoc +++ b/doc/architecture/proto-files.adoc @@ -1,5 +1,10 @@ = Protobuffer files +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + TODO: Add general description. osi_common.proto:: diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc index 3b7a08153..d66b9208c 100644 --- a/doc/architecture/reference_points_coordinate_systems.adoc +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -1,5 +1,10 @@ = Coordinate systems, reference points and coordinate transformation +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + OSI uses DIN ISO 8855:2013-11 cite:[iso8855] for coordinate systems and transformations between coordinate systems. OSI uses three coordinate systems: diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index 6096fbb76..161e9fd2a 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,5 +1,10 @@ = Sensor data +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] +sw `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. diff --git a/doc/architecture/sensor_model.adoc b/doc/architecture/sensor_model.adoc index 423ea0668..27cbb49df 100644 --- a/doc/architecture/sensor_model.adoc +++ b/doc/architecture/sensor_model.adoc @@ -1,4 +1,9 @@ = Sensor model +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + Sensor models consume `SensorView` messages and produce `SensorData` messages. Sensor-model output does not represent raw data but detected features or classified objects. \ No newline at end of file diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index 394d26ab4..673a3bbaf 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -1,5 +1,10 @@ = Sensor view +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + 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: diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index 9bba9d973..113927d4b 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,5 +1,10 @@ = Sensor-view configuration +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + 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. diff --git a/doc/architecture/test_scripts.adoc b/doc/architecture/test_scripts.adoc index 72a061235..0ad665c37 100644 --- a/doc/architecture/test_scripts.adoc +++ b/doc/architecture/test_scripts.adoc @@ -1,5 +1,10 @@ = Test scripts +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + TODO: Add general description. __init__.py:: diff --git a/doc/architecture/trace_file_formats.adoc b/doc/architecture/trace_file_formats.adoc index 510797dff..236b57d2d 100644 --- a/doc/architecture/trace_file_formats.adoc +++ b/doc/architecture/trace_file_formats.adoc @@ -1,5 +1,10 @@ = OSI trace file formats +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + There are multiple formats for storing multiple serialized OSI messages in one trace file. *.osi:: diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc index 6899b8ce9..61bc74638 100644 --- a/doc/architecture/trace_file_naming.adoc +++ b/doc/architecture/trace_file_naming.adoc @@ -1,5 +1,10 @@ = OSI trace file naming conventions +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + **Name format** The names of OSI trace files should have the following format: diff --git a/doc/architecture/traffic_command.adoc b/doc/architecture/traffic_command.adoc index b8fd41657..b69b635ac 100644 --- a/doc/architecture/traffic_command.adoc +++ b/doc/architecture/traffic_command.adoc @@ -1,3 +1,9 @@ = Traffic command +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + + `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 index 5e6ccd993..f8340f0e2 100644 --- a/doc/architecture/traffic_participant.adoc +++ b/doc/architecture/traffic_participant.adoc @@ -1,5 +1,10 @@ = Traffic participant +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + 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: diff --git a/doc/architecture/traffic_update.adoc b/doc/architecture/traffic_update.adoc index e788df8be..ffdd34a54 100644 --- a/doc/architecture/traffic_update.adoc +++ b/doc/architecture/traffic_update.adoc @@ -1,4 +1,9 @@ = Traffic update +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + `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 index bb2faea14..97bf507b6 100644 --- a/doc/architecture/vehicle_dynamics.adoc +++ b/doc/architecture/vehicle_dynamics.adoc @@ -1,3 +1,8 @@ = Vehicle dynamics +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + TODO: Content to be added in future release. diff --git a/doc/misc/osi_vision.adoc b/doc/misc/osi_vision.adoc index f0bc4ec3a..018043d00 100644 --- a/doc/misc/osi_vision.adoc +++ b/doc/misc/osi_vision.adoc @@ -1,5 +1,10 @@ = Idea behind Open Simulation Interface +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + {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 index 6c8e619fb..8a6673db0 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -1,22 +1,9 @@ -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::[] - +:root-path: ./ +include::{root-path}_config.adoc[] = Open Simulation Interface +:antora_mapping: title;numbered +ifndef::use-antora-rules[] include::./misc/osi_vision.adoc[leveloffset=+1] @@ -115,3 +102,6 @@ include::./setup/installing_windows_python.adoc[leveloffset=+2] //== Improving performance //TODO: Define topics and issues regarding performance. + +endif::[] +:!antora-mapping: diff --git a/doc/setup/including_osi_dev_projects.adoc b/doc/setup/including_osi_dev_projects.adoc index 15c3d3153..cbfcc846d 100644 --- a/doc/setup/including_osi_dev_projects.adoc +++ b/doc/setup/including_osi_dev_projects.adoc @@ -1,5 +1,10 @@ = Including OSI in development projects +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + TODO: Content to be added in future release. // TODO: Add description of this task. diff --git a/doc/setup/installing_linux_cpp.adoc b/doc/setup/installing_linux_cpp.adoc index 540eb1de4..b7d86891f 100644 --- a/doc/setup/installing_linux_cpp.adoc +++ b/doc/setup/installing_linux_cpp.adoc @@ -1,5 +1,10 @@ = Installing OSI for C++ on Linux +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + **Prerequisites** * You have installed _cmake_. diff --git a/doc/setup/installing_linux_python.adoc b/doc/setup/installing_linux_python.adoc index 84f507461..4f10b2b79 100644 --- a/doc/setup/installing_linux_python.adoc +++ b/doc/setup/installing_linux_python.adoc @@ -1,5 +1,10 @@ = Installing OSI for Python on Linux +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + **Prerequisites** * You have installed _pip3_. diff --git a/doc/setup/installing_macos.adoc b/doc/setup/installing_macos.adoc index 4fffb36c3..09890545b 100644 --- a/doc/setup/installing_macos.adoc +++ b/doc/setup/installing_macos.adoc @@ -1,5 +1,10 @@ = Installing OSI on MacOS +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + TODO: Content to be added in future release. // TODO: Add description of this task. diff --git a/doc/setup/installing_windows_cpp.adoc b/doc/setup/installing_windows_cpp.adoc index d365803f1..728113eda 100644 --- a/doc/setup/installing_windows_cpp.adoc +++ b/doc/setup/installing_windows_cpp.adoc @@ -1,5 +1,10 @@ = Installing OSI for C++ on Windows +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + **Prerequisites** * You have installed _cmake_ as an administrator. diff --git a/doc/setup/installing_windows_python.adoc b/doc/setup/installing_windows_python.adoc index 660428d53..ee5f1771e 100644 --- a/doc/setup/installing_windows_python.adoc +++ b/doc/setup/installing_windows_python.adoc @@ -1,5 +1,10 @@ = Installing OSI for Python on Windows +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + **Prerequisites** * You have installed _Python_ with administrator rights. diff --git a/doc/setup/using_osi_support_tools.adoc b/doc/setup/using_osi_support_tools.adoc index 952260da1..062240c8f 100644 --- a/doc/setup/using_osi_support_tools.adoc +++ b/doc/setup/using_osi_support_tools.adoc @@ -1,5 +1,10 @@ = Using OSI supporting tools +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + TODO: Content to be added in future release. // TODO: Add description of this task. diff --git a/doc/usecases/benchmark_integration_gpu_radar.adoc b/doc/usecases/benchmark_integration_gpu_radar.adoc index 83d2098ef..2c6fead55 100644 --- a/doc/usecases/benchmark_integration_gpu_radar.adoc +++ b/doc/usecases/benchmark_integration_gpu_radar.adoc @@ -1,5 +1,10 @@ = Benchmarking and integration: OSI-GPU-radar +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + TODO: Content to be added in future release. TODO: Clarify content of this use case and make title more clear diff --git a/doc/usecases/fusing_sensor_outputs.adoc b/doc/usecases/fusing_sensor_outputs.adoc index 0d20baf54..67e2f7bd1 100644 --- a/doc/usecases/fusing_sensor_outputs.adoc +++ b/doc/usecases/fusing_sensor_outputs.adoc @@ -1,5 +1,10 @@ = Fusing sensor outputs +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + TODO: Content to be added in future release. // TODO: Add extensive description of this use case. diff --git a/doc/usecases/generating_osi_traces.adoc b/doc/usecases/generating_osi_traces.adoc index 2dd888a7e..a725047e5 100644 --- a/doc/usecases/generating_osi_traces.adoc +++ b/doc/usecases/generating_osi_traces.adoc @@ -1,5 +1,10 @@ = Generating OSI traces +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + TODO: Content to be added in future release. // TODO: Add extensive description of this use case. diff --git a/doc/usecases/injecting_faults.adoc b/doc/usecases/injecting_faults.adoc index 047d55c9a..3a7b97d6c 100644 --- a/doc/usecases/injecting_faults.adoc +++ b/doc/usecases/injecting_faults.adoc @@ -1,5 +1,10 @@ = Injecting faults +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + TODO: Content to be added in future release. // TODO: Add extensive description of this use case. diff --git a/doc/usecases/modeling_camera_electronics.adoc b/doc/usecases/modeling_camera_electronics.adoc index a9cd48a70..05bb6ed37 100644 --- a/doc/usecases/modeling_camera_electronics.adoc +++ b/doc/usecases/modeling_camera_electronics.adoc @@ -1,5 +1,10 @@ = Modeling camera electronics +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + TODO: Content to be added in future release. // TODO: Add extensive description of this use case. diff --git a/doc/usecases/modeling_lidar_sensor.adoc b/doc/usecases/modeling_lidar_sensor.adoc index 45552354b..78dfe6f7b 100644 --- a/doc/usecases/modeling_lidar_sensor.adoc +++ b/doc/usecases/modeling_lidar_sensor.adoc @@ -1,5 +1,10 @@ = Modeling a LIDAR sensor +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + // TODO: Add extensive description of this use case. **Prerequisites** diff --git a/doc/usecases/modeling_traffic_participant.adoc b/doc/usecases/modeling_traffic_participant.adoc index e3d10e7c2..cf880d34a 100644 --- a/doc/usecases/modeling_traffic_participant.adoc +++ b/doc/usecases/modeling_traffic_participant.adoc @@ -1,5 +1,10 @@ = Modeling a traffic participant +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + 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. diff --git a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc index ccbeb090f..92ac3d5e7 100644 --- a/doc/usecases/transforming_coordinate_systems.adoc +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -1,5 +1,10 @@ = Coordinate transformations +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + == 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. diff --git a/local_build_tools/asciidoctor.bat b/local_build_tools/asciidoctor.bat new file mode 100644 index 000000000..a5dd7d2ae --- /dev/null +++ b/local_build_tools/asciidoctor.bat @@ -0,0 +1,3 @@ +@ECHO OFF +docker-compose up -d +PAUSE \ No newline at end of file diff --git a/local_build_tools/compose.yml b/local_build_tools/compose.yml new file mode 100644 index 000000000..a37849c18 --- /dev/null +++ b/local_build_tools/compose.yml @@ -0,0 +1,8 @@ +version: "2" + +services: + asciidoctor: + image: asciidoctor/docker-asciidoctor + volumes: + - ../:/documents + entrypoint: asciidoctor --failure-level WARN -r asciidoctor-kroki -a mathjax -r asciidoctor-bibtex --trace content/index.adoc -o local_build_tools/HTML_content_local_build.html \ No newline at end of file diff --git a/local_build_tools/windows_convert_symlinks(ADMIN).bat b/local_build_tools/windows_convert_symlinks(ADMIN).bat new file mode 100644 index 000000000..3ddf5dc6f --- /dev/null +++ b/local_build_tools/windows_convert_symlinks(ADMIN).bat @@ -0,0 +1,13 @@ +@ECHO OFF +SET Targetpath=..\.antora\modules\interface +SET Symlinkroot=..\..\.. + +mklink /D %Targetpath%\images %Symlinkroot%\doc\images + +mklink /D %Targetpath%\pages %Symlinkroot%\doc + +@REM mklink /D %Targetpath%\partials %Symlinkroot%\_additional_content + +@REM mklink /D %Targetpath%\attachments %Symlinkroot%\_attachments + +PAUSE \ No newline at end of file From 6659d6857138be8f5f41cc7c6f8080141a9e854e Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Tue, 6 Sep 2022 18:10:18 +0200 Subject: [PATCH 002/164] Fixed config and updated links Signed-off-by: Philip Windecker --- doc/_config.adoc | 2 -- doc/architecture/formatting_scripts.adoc | 2 +- doc/architecture/trace_file_formats.adoc | 1 + 3 files changed, 2 insertions(+), 3 deletions(-) diff --git a/doc/_config.adoc b/doc/_config.adoc index 9b86316b4..c64098bf2 100644 --- a/doc/_config.adoc +++ b/doc/_config.adoc @@ -53,5 +53,3 @@ ifdef::env-gitlab[] :relfilesuffix: .adoc endif::[] - -:asciidoc-resources: ../0_resources \ No newline at end of file diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index fd1d23e65..e226bd577 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -54,4 +54,4 @@ The default value is `None`. **Related topics** -* <<_osi_trace_file_formats>> \ No newline at end of file +* <> \ No newline at end of file diff --git a/doc/architecture/trace_file_formats.adoc b/doc/architecture/trace_file_formats.adoc index 236b57d2d..2f2d742a2 100644 --- a/doc/architecture/trace_file_formats.adoc +++ b/doc/architecture/trace_file_formats.adoc @@ -1,3 +1,4 @@ +[#top-osi_trace_file_formats] = OSI trace file formats ifndef::include-only-once[] From 50a57ad9d2c00cd73ec6a01a51ad73b8205c8b0a Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Wed, 7 Sep 2022 17:22:12 +0200 Subject: [PATCH 003/164] Added figure anchors Signed-off-by: Philip Windecker --- .antora/modules/gen/doxynav.adoc | 0 doc/architecture/architecture_overview.adoc | 3 +++ doc/architecture/traffic_participant.adoc | 2 ++ doc/usecases/modeling_traffic_participant.adoc | 4 ++++ doc/usecases/transforming_coordinate_systems.adoc | 2 ++ 5 files changed, 11 insertions(+) create mode 100644 .antora/modules/gen/doxynav.adoc diff --git a/.antora/modules/gen/doxynav.adoc b/.antora/modules/gen/doxynav.adoc new file mode 100644 index 000000000..e69de29bb diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 2ff070951..a3f7855f6 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -12,6 +12,7 @@ Top-level messages define the `GroundTruth` interface, the `SensorData` interfac The following figure shows the interfaces and models involved in modeling a sensor. +[#fig-open-simulation-interface-overview] .Open Simulation Interface overview image::{images_open_simulation_interface}/osi-context.png[1100] @@ -21,12 +22,14 @@ The `TrafficCommand` interface makes it possible to send commands to traffic par 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. +[#fig-interface-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. +[#fig-traffic-participant-sensor-models] .Traffic participant with sensor models, AD function, and dynamic model image::{images_open_simulation_interface}/osi-traffic-participant-advanced.png[1100] diff --git a/doc/architecture/traffic_participant.adoc b/doc/architecture/traffic_participant.adoc index f8340f0e2..9318ed632 100644 --- a/doc/architecture/traffic_participant.adoc +++ b/doc/architecture/traffic_participant.adoc @@ -19,12 +19,14 @@ The ego vehicle is therefore also a traffic participant. The following figure shows the interface of a traffic participant. +[#fig-interface-traffic-participant-2] .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. +[#fig-traffic-participant-other-osi-interfaces] .Traffic participant using other OSI interfaces internally image::{images_open_simulation_interface}/osi-traffic-participant-advanced.png[1100] diff --git a/doc/usecases/modeling_traffic_participant.adoc b/doc/usecases/modeling_traffic_participant.adoc index cf880d34a..53352cec8 100644 --- a/doc/usecases/modeling_traffic_participant.adoc +++ b/doc/usecases/modeling_traffic_participant.adoc @@ -15,6 +15,7 @@ The traffic participants are co-simulated. The following figure shows a very simple use case. +[#fig-simple-traffic-participant] .Simple traffic participant image::{images_open_simulation_interface}/osi-traffic-participant-use-case-1.png[1100] @@ -23,6 +24,7 @@ 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. +[#fig-traffic-participants-separate-dynamics] .Traffic participants with separate dynamics image::{images_open_simulation_interface}/osi-traffic-participant-use-case-2.png[1100] @@ -32,6 +34,7 @@ These must be handled with a different data description format. The following figure shows a more complex traffic participant. +[#fig-traffic-participant-sensor-models-2] .Traffic participant with sensor models, AD function, and dynamics model image::{images_open_simulation_interface}/osi-traffic-participant-use-case-3.png[1100] @@ -44,6 +47,7 @@ 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. +[#fig-traffic-participant-ad-function-human-driver] .Traffic participant with an AD function and human driver image::{images_open_simulation_interface}/osi-traffic-participant-use-case-4.png[1100] diff --git a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc index 92ac3d5e7..bee0c8aeb 100644 --- a/doc/usecases/transforming_coordinate_systems.adoc +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -105,4 +105,6 @@ The reference point of the vehicle is given by a vector in the global coordinate A vector pointing from the reference position of the vehicle to the center of the rear axle then yields the origin of the vehicle coordinate system. The mounting positions of the sensors and therefore the origins of the corresponding sensor coordinate systems are given with respect to the vehicle coordinate system. +[#fig-coordinate-systems-example] +.TODO title image::{images_open_simulation_interface}/osi_example_coordinate_systems.png[] \ No newline at end of file From d5f41f186a079add159bda1f539be3bd4b4a1c43 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Wed, 7 Sep 2022 17:28:48 +0200 Subject: [PATCH 004/164] Added tab anchors Signed-off-by: Philip Windecker --- doc/architecture/trace_file_naming.adoc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc index 61bc74638..8b49fa776 100644 --- a/doc/architecture/trace_file_naming.adoc +++ b/doc/architecture/trace_file_naming.adoc @@ -35,6 +35,8 @@ Trace file contains `TrafficCommand` messages. Given an OSI trace file with the following information: +[#tab-example-osi-trace-file-information] +.Example OSI trace file information [cols="1,1"] |=== |Timestamp (ISO 8601) cite:[iso8601] From fdf6674b7388993276ec7628072ab20a6fa08f91 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Thu, 8 Sep 2022 13:58:47 +0200 Subject: [PATCH 005/164] Fixed minor bugs and updated links to interface spec Signed-off-by: Philip Windecker --- doc/architecture/sensor_data.adoc | 2 +- doc/architecture/sensor_view.adoc | 2 +- doc/architecture/traffic_participant.adoc | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index 161e9fd2a..d25844619 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -4,7 +4,7 @@ ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] -sw + `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. diff --git a/doc/architecture/sensor_view.adoc b/doc/architecture/sensor_view.adoc index 673a3bbaf..b20797ff9 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -10,5 +10,5 @@ The sensor view provides the input to OSI sensor models. 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`] + One example of technology-specific data is: xref:gen:structosi3_1_1CameraSensorView.adoc#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/traffic_participant.adoc b/doc/architecture/traffic_participant.adoc index 9318ed632..aee5524e3 100644 --- a/doc/architecture/traffic_participant.adoc +++ b/doc/architecture/traffic_participant.adoc @@ -8,7 +8,7 @@ endif::[] 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. +- Living being - Means of transportation for living beings - Means of transportation for goods - Any other movable object that may travel on the road network From 86b2b1eee4a3dac6275436985946fbc03018f3f4 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Thu, 8 Sep 2022 14:41:44 +0200 Subject: [PATCH 006/164] Updated feedback button behavior Signed-off-by: Philip Windecker --- doc/_config.adoc | 1 + doc/architecture/architecture_overview.adoc | 3 +-- doc/architecture/data_layer.adoc | 3 +-- doc/architecture/environmental_effect_model.adoc | 3 +-- doc/architecture/feature_data.adoc | 3 +-- doc/architecture/formatting_scripts.adoc | 3 +-- doc/architecture/ground_truth.adoc | 3 +-- doc/architecture/logical_model.adoc | 3 +-- doc/architecture/packaging_layer.adoc | 3 +-- doc/architecture/proto-files.adoc | 3 +-- doc/architecture/reference_points_coordinate_systems.adoc | 3 +-- doc/architecture/sensor_data.adoc | 3 +-- doc/architecture/sensor_model.adoc | 3 +-- doc/architecture/sensor_view.adoc | 3 +-- doc/architecture/sensor_view_configuration.adoc | 3 +-- doc/architecture/test_scripts.adoc | 3 +-- doc/architecture/trace_file_formats.adoc | 5 ++--- doc/architecture/trace_file_naming.adoc | 3 +-- doc/architecture/traffic_command.adoc | 4 +--- doc/architecture/traffic_participant.adoc | 3 +-- doc/architecture/traffic_update.adoc | 3 +-- doc/architecture/vehicle_dynamics.adoc | 3 +-- doc/misc/osi_vision.adoc | 3 +-- doc/setup/including_osi_dev_projects.adoc | 3 +-- doc/setup/installing_linux_cpp.adoc | 3 +-- doc/setup/installing_linux_python.adoc | 3 +-- doc/setup/installing_macos.adoc | 3 +-- doc/setup/installing_windows_cpp.adoc | 3 +-- doc/setup/installing_windows_python.adoc | 3 +-- doc/setup/using_osi_support_tools.adoc | 3 +-- doc/usecases/benchmark_integration_gpu_radar.adoc | 3 +-- doc/usecases/fusing_sensor_outputs.adoc | 3 +-- doc/usecases/generating_osi_traces.adoc | 3 +-- doc/usecases/injecting_faults.adoc | 3 +-- doc/usecases/modeling_camera_electronics.adoc | 3 +-- doc/usecases/modeling_lidar_sensor.adoc | 3 +-- doc/usecases/modeling_traffic_participant.adoc | 3 +-- doc/usecases/transforming_coordinate_systems.adoc | 3 +-- 38 files changed, 39 insertions(+), 76 deletions(-) diff --git a/doc/_config.adoc b/doc/_config.adoc index c64098bf2..e046f24ad 100644 --- a/doc/_config.adoc +++ b/doc/_config.adoc @@ -8,6 +8,7 @@ ifndef::root-path[:root-path: ./] :partials-path: {root-path}../_additional_content :asciidoc-resources: ../asciidoc-resources :appendix-caption: Annex +:page-feedbackurl: https://github.com/OpenSimulationInterface/open-simulation-interface/issues/new // ifndef::use-antora-rules,include-only-once[] ifndef::include-only-once[] diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index a3f7855f6..498427b40 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -1,9 +1,8 @@ -= Overview of OSI architecture - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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. diff --git a/doc/architecture/data_layer.adoc b/doc/architecture/data_layer.adoc index c23067af3..e624015a1 100644 --- a/doc/architecture/data_layer.adoc +++ b/doc/architecture/data_layer.adoc @@ -1,9 +1,8 @@ -= Data layer - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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. diff --git a/doc/architecture/environmental_effect_model.adoc b/doc/architecture/environmental_effect_model.adoc index 1c5050eff..03c341455 100644 --- a/doc/architecture/environmental_effect_model.adoc +++ b/doc/architecture/environmental_effect_model.adoc @@ -1,9 +1,8 @@ -= Environmental effect model - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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: diff --git a/doc/architecture/feature_data.adoc b/doc/architecture/feature_data.adoc index 70743ba08..f6ebf271f 100644 --- a/doc/architecture/feature_data.adoc +++ b/doc/architecture/feature_data.adoc @@ -1,9 +1,8 @@ -= Feature data - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Feature data `FeatureData` messages contain detected features in the reference frame of a sensor. `FeatureData` messages are generated from `GroundTruth` messages. diff --git a/doc/architecture/formatting_scripts.adoc b/doc/architecture/formatting_scripts.adoc index e226bd577..9b1a26857 100644 --- a/doc/architecture/formatting_scripts.adoc +++ b/doc/architecture/formatting_scripts.adoc @@ -1,9 +1,8 @@ -= Trace-file formatting scripts - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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/` diff --git a/doc/architecture/ground_truth.adoc b/doc/architecture/ground_truth.adoc index d54d2d843..512387778 100644 --- a/doc/architecture/ground_truth.adoc +++ b/doc/architecture/ground_truth.adoc @@ -1,9 +1,8 @@ -= Ground truth - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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. diff --git a/doc/architecture/logical_model.adoc b/doc/architecture/logical_model.adoc index c694f2214..902403684 100644 --- a/doc/architecture/logical_model.adoc +++ b/doc/architecture/logical_model.adoc @@ -1,9 +1,8 @@ -= Logical model - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Logical model Logical models consume `SensorData` messages and produce `SensorData` messages. diff --git a/doc/architecture/packaging_layer.adoc b/doc/architecture/packaging_layer.adoc index ba29622f2..ef0687859 100644 --- a/doc/architecture/packaging_layer.adoc +++ b/doc/architecture/packaging_layer.adoc @@ -1,9 +1,8 @@ -= Packaging layer - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Packaging layer The OSI packaging layer specifies how components that use the OSI data layer, for example, sensor models, are packaged for exchange. diff --git a/doc/architecture/proto-files.adoc b/doc/architecture/proto-files.adoc index 2c638a259..9bb8ab133 100644 --- a/doc/architecture/proto-files.adoc +++ b/doc/architecture/proto-files.adoc @@ -1,9 +1,8 @@ -= Protobuffer files - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Protobuffer files TODO: Add general description. diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc index d66b9208c..4e845281a 100644 --- a/doc/architecture/reference_points_coordinate_systems.adoc +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -1,9 +1,8 @@ -= Coordinate systems, reference points and coordinate transformation - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Coordinate systems, reference points and coordinate transformation OSI uses DIN ISO 8855:2013-11 cite:[iso8855] for coordinate systems and transformations between coordinate systems. OSI uses three coordinate systems: diff --git a/doc/architecture/sensor_data.adoc b/doc/architecture/sensor_data.adoc index d25844619..f06383960 100644 --- a/doc/architecture/sensor_data.adoc +++ b/doc/architecture/sensor_data.adoc @@ -1,9 +1,8 @@ -= Sensor data - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Sensor data `SensorData` messages imitate the output of real sensors. They can be generated from `GroundTruth` messages, `SensorView` messages, `FeatureData` messages, or `SensorData` messages. diff --git a/doc/architecture/sensor_model.adoc b/doc/architecture/sensor_model.adoc index 27cbb49df..bf55655e1 100644 --- a/doc/architecture/sensor_model.adoc +++ b/doc/architecture/sensor_model.adoc @@ -1,9 +1,8 @@ -= Sensor model - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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 index b20797ff9..adeb6254e 100644 --- a/doc/architecture/sensor_view.adoc +++ b/doc/architecture/sensor_view.adoc @@ -1,9 +1,8 @@ -= Sensor view - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Sensor view The sensor view provides the input to OSI sensor models. `SensorView` messages are derived from `GroundTruth` messages. diff --git a/doc/architecture/sensor_view_configuration.adoc b/doc/architecture/sensor_view_configuration.adoc index 113927d4b..09d0d5fb7 100644 --- a/doc/architecture/sensor_view_configuration.adoc +++ b/doc/architecture/sensor_view_configuration.adoc @@ -1,9 +1,8 @@ -= Sensor-view configuration - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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. diff --git a/doc/architecture/test_scripts.adoc b/doc/architecture/test_scripts.adoc index 0ad665c37..354bea07a 100644 --- a/doc/architecture/test_scripts.adoc +++ b/doc/architecture/test_scripts.adoc @@ -1,9 +1,8 @@ -= Test scripts - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Test scripts TODO: Add general description. diff --git a/doc/architecture/trace_file_formats.adoc b/doc/architecture/trace_file_formats.adoc index 2f2d742a2..0ed0a4515 100644 --- a/doc/architecture/trace_file_formats.adoc +++ b/doc/architecture/trace_file_formats.adoc @@ -1,10 +1,9 @@ -[#top-osi_trace_file_formats] -= OSI trace file formats - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] +[#top-osi_trace_file_formats] += OSI trace file formats There are multiple formats for storing multiple serialized OSI messages in one trace file. diff --git a/doc/architecture/trace_file_naming.adoc b/doc/architecture/trace_file_naming.adoc index 8b49fa776..bbc892422 100644 --- a/doc/architecture/trace_file_naming.adoc +++ b/doc/architecture/trace_file_naming.adoc @@ -1,9 +1,8 @@ -= OSI trace file naming conventions - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += OSI trace file naming conventions **Name format** diff --git a/doc/architecture/traffic_command.adoc b/doc/architecture/traffic_command.adoc index b69b635ac..f8cd90d24 100644 --- a/doc/architecture/traffic_command.adoc +++ b/doc/architecture/traffic_command.adoc @@ -1,9 +1,7 @@ -= Traffic command - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] - += 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 index aee5524e3..3418cc11f 100644 --- a/doc/architecture/traffic_participant.adoc +++ b/doc/architecture/traffic_participant.adoc @@ -1,9 +1,8 @@ -= Traffic participant - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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: diff --git a/doc/architecture/traffic_update.adoc b/doc/architecture/traffic_update.adoc index ffdd34a54..33461d23d 100644 --- a/doc/architecture/traffic_update.adoc +++ b/doc/architecture/traffic_update.adoc @@ -1,9 +1,8 @@ -= Traffic update - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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 index 97bf507b6..ee8a950a0 100644 --- a/doc/architecture/vehicle_dynamics.adoc +++ b/doc/architecture/vehicle_dynamics.adoc @@ -1,8 +1,7 @@ -= Vehicle dynamics - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Vehicle dynamics TODO: Content to be added in future release. diff --git a/doc/misc/osi_vision.adoc b/doc/misc/osi_vision.adoc index 018043d00..1bb239154 100644 --- a/doc/misc/osi_vision.adoc +++ b/doc/misc/osi_vision.adoc @@ -1,9 +1,8 @@ -= Idea behind Open Simulation Interface - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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. diff --git a/doc/setup/including_osi_dev_projects.adoc b/doc/setup/including_osi_dev_projects.adoc index cbfcc846d..7138417c8 100644 --- a/doc/setup/including_osi_dev_projects.adoc +++ b/doc/setup/including_osi_dev_projects.adoc @@ -1,9 +1,8 @@ -= Including OSI in development projects - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Including OSI in development projects TODO: Content to be added in future release. diff --git a/doc/setup/installing_linux_cpp.adoc b/doc/setup/installing_linux_cpp.adoc index b7d86891f..97050578d 100644 --- a/doc/setup/installing_linux_cpp.adoc +++ b/doc/setup/installing_linux_cpp.adoc @@ -1,9 +1,8 @@ -= Installing OSI for C++ on Linux - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Installing OSI for C++ on Linux **Prerequisites** diff --git a/doc/setup/installing_linux_python.adoc b/doc/setup/installing_linux_python.adoc index 4f10b2b79..771de0b20 100644 --- a/doc/setup/installing_linux_python.adoc +++ b/doc/setup/installing_linux_python.adoc @@ -1,9 +1,8 @@ -= Installing OSI for Python on Linux - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Installing OSI for Python on Linux **Prerequisites** diff --git a/doc/setup/installing_macos.adoc b/doc/setup/installing_macos.adoc index 09890545b..83d64609c 100644 --- a/doc/setup/installing_macos.adoc +++ b/doc/setup/installing_macos.adoc @@ -1,9 +1,8 @@ -= Installing OSI on MacOS - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Installing OSI on MacOS TODO: Content to be added in future release. diff --git a/doc/setup/installing_windows_cpp.adoc b/doc/setup/installing_windows_cpp.adoc index 728113eda..d14208544 100644 --- a/doc/setup/installing_windows_cpp.adoc +++ b/doc/setup/installing_windows_cpp.adoc @@ -1,9 +1,8 @@ -= Installing OSI for C++ on Windows - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Installing OSI for C++ on Windows **Prerequisites** diff --git a/doc/setup/installing_windows_python.adoc b/doc/setup/installing_windows_python.adoc index ee5f1771e..e48ccd1f8 100644 --- a/doc/setup/installing_windows_python.adoc +++ b/doc/setup/installing_windows_python.adoc @@ -1,9 +1,8 @@ -= Installing OSI for Python on Windows - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Installing OSI for Python on Windows **Prerequisites** diff --git a/doc/setup/using_osi_support_tools.adoc b/doc/setup/using_osi_support_tools.adoc index 062240c8f..829bf3d04 100644 --- a/doc/setup/using_osi_support_tools.adoc +++ b/doc/setup/using_osi_support_tools.adoc @@ -1,9 +1,8 @@ -= Using OSI supporting tools - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Using OSI supporting tools TODO: Content to be added in future release. diff --git a/doc/usecases/benchmark_integration_gpu_radar.adoc b/doc/usecases/benchmark_integration_gpu_radar.adoc index 2c6fead55..a60951458 100644 --- a/doc/usecases/benchmark_integration_gpu_radar.adoc +++ b/doc/usecases/benchmark_integration_gpu_radar.adoc @@ -1,9 +1,8 @@ -= Benchmarking and integration: OSI-GPU-radar - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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 diff --git a/doc/usecases/fusing_sensor_outputs.adoc b/doc/usecases/fusing_sensor_outputs.adoc index 67e2f7bd1..5c8636323 100644 --- a/doc/usecases/fusing_sensor_outputs.adoc +++ b/doc/usecases/fusing_sensor_outputs.adoc @@ -1,9 +1,8 @@ -= Fusing sensor outputs - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Fusing sensor outputs TODO: Content to be added in future release. diff --git a/doc/usecases/generating_osi_traces.adoc b/doc/usecases/generating_osi_traces.adoc index a725047e5..2e0037ace 100644 --- a/doc/usecases/generating_osi_traces.adoc +++ b/doc/usecases/generating_osi_traces.adoc @@ -1,9 +1,8 @@ -= Generating OSI traces - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Generating OSI traces TODO: Content to be added in future release. diff --git a/doc/usecases/injecting_faults.adoc b/doc/usecases/injecting_faults.adoc index 3a7b97d6c..dce6ca97a 100644 --- a/doc/usecases/injecting_faults.adoc +++ b/doc/usecases/injecting_faults.adoc @@ -1,9 +1,8 @@ -= Injecting faults - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Injecting faults TODO: Content to be added in future release. diff --git a/doc/usecases/modeling_camera_electronics.adoc b/doc/usecases/modeling_camera_electronics.adoc index 05bb6ed37..ab7d8d4f3 100644 --- a/doc/usecases/modeling_camera_electronics.adoc +++ b/doc/usecases/modeling_camera_electronics.adoc @@ -1,9 +1,8 @@ -= Modeling camera electronics - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Modeling camera electronics TODO: Content to be added in future release. diff --git a/doc/usecases/modeling_lidar_sensor.adoc b/doc/usecases/modeling_lidar_sensor.adoc index 78dfe6f7b..fadba71d6 100644 --- a/doc/usecases/modeling_lidar_sensor.adoc +++ b/doc/usecases/modeling_lidar_sensor.adoc @@ -1,9 +1,8 @@ -= Modeling a LIDAR sensor - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Modeling a LIDAR sensor // TODO: Add extensive description of this use case. diff --git a/doc/usecases/modeling_traffic_participant.adoc b/doc/usecases/modeling_traffic_participant.adoc index 53352cec8..4754a85d3 100644 --- a/doc/usecases/modeling_traffic_participant.adoc +++ b/doc/usecases/modeling_traffic_participant.adoc @@ -1,9 +1,8 @@ -= Modeling a traffic participant - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += 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. diff --git a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc index bee0c8aeb..98f2afc0b 100644 --- a/doc/usecases/transforming_coordinate_systems.adoc +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -1,9 +1,8 @@ -= Coordinate transformations - ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] += Coordinate transformations == Vehicle and sensor coordinate systems From d2c72439f02f7c0bff832681f89ca70b02c5dc04 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Fri, 9 Sep 2022 15:27:27 +0200 Subject: [PATCH 007/164] Updated README Signed-off-by: Philip Windecker --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 61746b18e..3cf3b7b48 100644 --- a/README.md +++ b/README.md @@ -9,6 +9,8 @@ As the complexity of automated driving functions rapidly increases, the requirem For more information on OSI see the [official documentation](https://opensimulationinterface.github.io/osi-documentation/) or the [official reference documentation](https://opensimulationinterface.github.io/open-simulation-interface/) for defined protobuf messages. + + [1] Hanke, T., Hirsenkorn, N., van-Driesten, C., Garcia-Ramos, P., Schiementz, M., Schneider, S. & Biebl, E. (2017, February 03). *A generic interface for the environment perception of automated driving functions in virtual scenarios.* Retrieved January 25, 2020, from https://www.hot.ei.tum.de/forschung/automotive-veroeffentlichungen/ ## Usage From 08f0f24040991a4c421fe103b1b009ade3b53f5e Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Fri, 9 Sep 2022 15:42:11 +0200 Subject: [PATCH 008/164] Antora tagging Signed-off-by: Philip Windecker --- .antora/antora.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.antora/antora.yml b/.antora/antora.yml index 24a252841..1ee0a3eaa 100644 --- a/.antora/antora.yml +++ b/.antora/antora.yml @@ -3,6 +3,7 @@ name: asamosi version: # Update version number accordingly. This is the version for the main branch main: 'current' + v(*)-antora: V$1 v(*): V$1 V(*): V$1 # Update version number accordingly. This is the version for any other activated branch (branch must be added in the generator site.yml!). Schema = 0.0.x- (only works for branches starting with "feature/") From dd58dc840cf5ed893959ec1f5f574b880a788ef8 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Fri, 9 Sep 2022 15:53:01 +0200 Subject: [PATCH 009/164] Unified versioning for repos Signed-off-by: Philip Windecker --- .antora/antora.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.antora/antora.yml b/.antora/antora.yml index 1ee0a3eaa..e091a6471 100644 --- a/.antora/antora.yml +++ b/.antora/antora.yml @@ -7,4 +7,4 @@ version: v(*): V$1 V(*): V$1 # Update version number accordingly. This is the version for any other activated branch (branch must be added in the generator site.yml!). Schema = 0.0.x- (only works for branches starting with "feature/") - (*): '3.6.0-$1' + (*): 'V3.6.0-$1' From 7019b45a2f9a9f16e0e9d3daacb126498ab274c9 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Fri, 9 Sep 2022 16:39:09 +0200 Subject: [PATCH 010/164] Updated image link for asciidoc Signed-off-by: Philip Windecker --- doc/_config.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/_config.adoc b/doc/_config.adoc index e046f24ad..d022648fc 100644 --- a/doc/_config.adoc +++ b/doc/_config.adoc @@ -33,7 +33,7 @@ ifndef::include-only-once[] :reusedir: reuse :toclevels: 3 :xrefstyle: full -:images_open_simulation_interface: ./open-simulation-interface/doc/images +:images_open_simulation_interface: {imagesdir} // :images_osi-sensor-model-packaging: ./osi-sensor-model-packaging/doc/images :doc_open_simulation_interface: ../../open-simulation-interface/doc/ :doc_osi-sensor-model-packaging: ../../osi-sensor-model-packaging/doc/ From c3ca3c9d187ce198e64ff14ea83a30cd1da846a2 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Thu, 15 Sep 2022 13:45:45 +0200 Subject: [PATCH 011/164] Updated pull request template Signed-off-by: Philip Windecker --- .github/pull_request_template.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md index 09f7c8370..b18379317 100644 --- a/.github/pull_request_template.md +++ b/.github/pull_request_template.md @@ -11,8 +11,8 @@ Is this a bug fix or a feature? Does it break any existing functionality or forc How has it been tested? #### Take this checklist as orientation for yourself, if this PR is ready for the Change Control Board: -- [ ] My suggestion follows the [style and contributors guidelines](https://opensimulationinterface.github.io/osi-documentation/open-simulation-interface/doc/howtocontribute.html). -- [ ] I have taken care about the [documentation](https://opensimulationinterface.github.io/osi-documentation/open-simulation-interface/doc/commenting.html). +- [ ] My suggestion follows the [style and contributors guidelines](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/specification/contributing/start_contributing.html). +- [ ] I have taken care about the [message documentation](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/specification/contributing/commenting_messages.html) and the [fields and enums documentation](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/specification/contributing/commenting_fields_enums.html). - [ ] I have done the [DCO signoff](https://opensimulationinterface.github.io/osi-documentation/open-simulation-interface/doc/howtocontribute.html#developer-certification-of-origin-dco). - [ ] My changes generate no errors when passing CI tests. - [ ] I have successfully implemented and tested my fix/feature locally. From a0d959f527318590219b8d4a76224940a7b8cfb1 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Tue, 11 Oct 2022 10:12:09 +0200 Subject: [PATCH 012/164] Fix path to asciidoc-resources Signed-off-by: Philip Windecker --- doc/_config.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/_config.adoc b/doc/_config.adoc index d022648fc..b841aa89b 100644 --- a/doc/_config.adoc +++ b/doc/_config.adoc @@ -6,7 +6,7 @@ ifndef::root-path[:root-path: ./] :partials-path: {root-path}../_additional_content -:asciidoc-resources: ../asciidoc-resources +:asciidoc-resources: ../../asciidoc-resources :appendix-caption: Annex :page-feedbackurl: https://github.com/OpenSimulationInterface/open-simulation-interface/issues/new From edb10ab859f48f6efb2b522df6a07d2407f36bf1 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Tue, 11 Oct 2022 10:24:34 +0200 Subject: [PATCH 013/164] Added one more missing step Signed-off-by: Philip Windecker --- doc/_config.adoc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/doc/_config.adoc b/doc/_config.adoc index b841aa89b..513261341 100644 --- a/doc/_config.adoc +++ b/doc/_config.adoc @@ -6,7 +6,7 @@ ifndef::root-path[:root-path: ./] :partials-path: {root-path}../_additional_content -:asciidoc-resources: ../../asciidoc-resources +:asciidoc-resources: ../../../asciidoc-resources :appendix-caption: Annex :page-feedbackurl: https://github.com/OpenSimulationInterface/open-simulation-interface/issues/new From 225d614da953062e83bbfde542865a0f28bdfc7e Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 7 Nov 2022 11:55:46 +0100 Subject: [PATCH 014/164] Build/master branch naming (#672) Change version naming for master branch, update Ubuntu image, and add Antora generator trigger. Signed-off-by: Philip Windecker Signed-off-by: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Signed-off-by: Pierre R. Mai --- .antora/antora.yml | 1 + .github/workflows/antora-generator.yml | 24 ++++++++++++++++++++++++ .github/workflows/protobuf.yml | 10 +++++----- 3 files changed, 30 insertions(+), 5 deletions(-) create mode 100644 .github/workflows/antora-generator.yml diff --git a/.antora/antora.yml b/.antora/antora.yml index e091a6471..009e10a9d 100644 --- a/.antora/antora.yml +++ b/.antora/antora.yml @@ -3,6 +3,7 @@ name: asamosi version: # Update version number accordingly. This is the version for the main branch main: 'current' + master: 'current' v(*)-antora: V$1 v(*): V$1 V(*): V$1 diff --git a/.github/workflows/antora-generator.yml b/.github/workflows/antora-generator.yml new file mode 100644 index 000000000..e5632fa1c --- /dev/null +++ b/.github/workflows/antora-generator.yml @@ -0,0 +1,24 @@ + +name: Antora build trigger + +on: + push: + branches: [ master ] + pull_request: + branches: [ master ] + +jobs: + trigger_antora: + name: Trigger antora generator + + runs-on: Ubuntu-latest + + steps: + - name: Trigger generator + uses: peter-evans/repository-dispatch@v2 + with: + token: ${{ secrets.MACHINE_USER_PAT }} + event-type: antora-build-trigger + repository: OpenSimulationInterface/osi-antora-generator + client-payload: '{"src": "${{ github.repository }}", "ref": "${{ github.ref }}", "sha": "${{ github.sha }}", "head_ref": "${{ github.head_ref }}"}' + \ No newline at end of file diff --git a/.github/workflows/protobuf.yml b/.github/workflows/protobuf.yml index a7acae918..c719a68ce 100644 --- a/.github/workflows/protobuf.yml +++ b/.github/workflows/protobuf.yml @@ -9,7 +9,7 @@ jobs: build-proto2-linux64: name: Build Proto2 Linux 64 - runs-on: ubuntu-18.04 + runs-on: ubuntu-22.04 steps: - name: Checkout OSI @@ -30,10 +30,10 @@ jobs: - name: Cache Dependencies id: cache-depends - uses: actions/cache@v2 + uses: actions/cache@v3 with: path: protobuf-3.20.1 - key: ${{ runner.os }}-v1-depends + key: ${{ runner.os }}-v2-depends - name: Download ProtoBuf if: steps.cache-depends.outputs.cache-hit != 'true' @@ -100,7 +100,7 @@ jobs: build-proto3-linux64: name: Build Proto3 Linux 64 - runs-on: ubuntu-18.04 + runs-on: ubuntu-22.04 steps: - name: Checkout OSI @@ -121,7 +121,7 @@ jobs: uses: actions/cache@v2 with: path: protobuf-3.20.1 - key: ${{ runner.os }}-v1-depends + key: ${{ runner.os }}-v2-depends - name: Download ProtoBuf if: steps.cache-depends.outputs.cache-hit != 'true' From 49801c9ff0bdd812dd13b601e4c77db50984892e Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Mon, 7 Nov 2022 14:26:23 +0100 Subject: [PATCH 015/164] Never trigger antora builds for PRs from forks (#686) Since no secrets will be available for security reasons, do not try to trigger antora builds when those secrets are not available. Signed-off-by: Pierre R. Mai --- .github/workflows/antora-generator.yml | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/.github/workflows/antora-generator.yml b/.github/workflows/antora-generator.yml index e5632fa1c..251478266 100644 --- a/.github/workflows/antora-generator.yml +++ b/.github/workflows/antora-generator.yml @@ -13,12 +13,15 @@ jobs: runs-on: Ubuntu-latest + env: + MUP_KEY: ${{ secrets.MACHINE_USER_PAT }} + steps: - name: Trigger generator + if: ${{ env.MUP_KEY != '' }} uses: peter-evans/repository-dispatch@v2 with: token: ${{ secrets.MACHINE_USER_PAT }} event-type: antora-build-trigger repository: OpenSimulationInterface/osi-antora-generator client-payload: '{"src": "${{ github.repository }}", "ref": "${{ github.ref }}", "sha": "${{ github.sha }}", "head_ref": "${{ github.head_ref }}"}' - \ No newline at end of file From a87746b804217d9a75d9cf2881c9465e37947e69 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Thu, 13 Oct 2022 10:03:24 +0200 Subject: [PATCH 016/164] Fix traffic sign variability attribute description Aligns variability attribute description with existing enum description Signed-off-by: Thomas Sedlmayer --- osi_trafficsign.proto | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index b3136e4d9..5eed93647 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -242,8 +242,9 @@ message TrafficSign // message Classification { - // The traffic sign is not stationary, for example a temporary - // traffic sign in a street construction. + // This value indicates if a sign is static or dynamic regarding its + // content (e.g., electronic sign bridge) and/or regarding its + // position on the road. // optional Variability variability = 1; From 2d75785400236dae7a33adc971d33708c3d89c3a Mon Sep 17 00:00:00 2001 From: Philipp Rosenberger Date: Thu, 8 Dec 2022 14:38:54 +0100 Subject: [PATCH 017/164] Fixing title of Fig. 10 with coordinate systems Signed-off-by: Philipp Rosenberger --- doc/usecases/transforming_coordinate_systems.adoc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc index 98f2afc0b..491a560f0 100644 --- a/doc/usecases/transforming_coordinate_systems.adoc +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -105,5 +105,5 @@ A vector pointing from the reference position of the vehicle to the center of th 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. [#fig-coordinate-systems-example] -.TODO title -image::{images_open_simulation_interface}/osi_example_coordinate_systems.png[] \ No newline at end of file +.Schematic example of OSI coordinate systems and their relationship +image::{images_open_simulation_interface}/osi_example_coordinate_systems.png[] From df9caec2a367f4a166b8d9bde2726571549a0db2 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Fri, 4 Nov 2022 10:30:48 +0100 Subject: [PATCH 018/164] Add new traffic sign variability types - Clarify definition of old types to differentiate from new types - Add new types VARIABLE_MOVABLE and VARIABLE_MUTABLE Signed-off-by: Thomas Sedlmayer --- osi_trafficsign.proto | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 5eed93647..b417e7b5d 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -9571,12 +9571,23 @@ message TrafficSign // VARIABILITY_OTHER = 1; - // Fixed sign, i.e. always present. + // Sign that can change neither semantically nor positionally, e.g. + // fixed immutable traffic sign. // VARIABILITY_FIXED = 2; - // Temporary or variable sign, e.g. on a sign bridge. + // Sign that can change semantically and positionally. // VARIABILITY_VARIABLE = 3; + + // Sign that can change positionally but not semantically, e.g. + // temporary immutable traffic sign at construction site. + // + VARIABILITY_VARIABLE_MOVABLE = 4; + + // Sign that can change semantically but not positionally, e.g. digital + // traffic sign on traffic sign gantry or analog prism signs. + // + VARIABILITY_VARIABLE_MUTABLE = 5; } } From 4e66c0eede76c94888cf1811b8c1be8a430a33fb Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Tue, 15 Nov 2022 14:16:21 +0100 Subject: [PATCH 019/164] Add new variability type and update comments Signed-off-by: Thomas Sedlmayer --- osi_trafficsign.proto | 30 +++++++++++++++++++++--------- 1 file changed, 21 insertions(+), 9 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index b417e7b5d..4a68c35e2 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -9571,23 +9571,35 @@ message TrafficSign // VARIABILITY_OTHER = 1; - // Sign that can change neither semantically nor positionally, e.g. - // fixed immutable traffic sign. + // Sign that can change neither semantically nor positionally, e.g. a + // fixed, immutable, non-temporary traffic sign. // VARIABILITY_FIXED = 2; - // Sign that can change semantically and positionally. + // Sign that can change semantically and/or positionally, i.e. it is + // left unspecified in which way the sign may change. + // + // \note This value represents a legacy definition. If possible, please + // use the more specific values below to indicate the exact nature of + // variability. // VARIABILITY_VARIABLE = 3; - // Sign that can change positionally but not semantically, e.g. - // temporary immutable traffic sign at construction site. + // Sign that can change positionally but not semantically, e.g. a + // temporary, immutable traffic sign at construction site. + // + VARIABILITY_MOVABLE = 4; + + // Sign that can change semantically but not positionally, e.g. a + // digital traffic sign on traffic sign gantry, or an analog prism + // sign. // - VARIABILITY_VARIABLE_MOVABLE = 4; + VARIABILITY_MUTABLE = 5; - // Sign that can change semantically but not positionally, e.g. digital - // traffic sign on traffic sign gantry or analog prism signs. + // Sign that can change both semantically and positionally, e.g. a + // temporary, digital traffic sign at a construction site, or a digital + // traffic sign attached to a road works vehicle. // - VARIABILITY_VARIABLE_MUTABLE = 5; + VARIABILITY_MOVABLE_AND_MUTABLE = 6; } } From d1253f38abbb7aeb4abc4987b9978166817caba9 Mon Sep 17 00:00:00 2001 From: schmidtlorenz <107173594+schmidtlorenz@users.noreply.github.com> Date: Wed, 19 Oct 2022 08:23:25 +0200 Subject: [PATCH 020/164] Add classification for stand-up scooters feat(vehicle classifications): add classification for stand-up scooters, motivated by possible NCAP target type refers to issue #673 Signed-off-by: schmidtlorenz <107173594+schmidtlorenz@users.noreply.github.com> Signed-off-by: Pierre R. Mai --- osi_object.proto | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/osi_object.proto b/osi_object.proto index fc73e5941..dfdca1c66 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -865,6 +865,10 @@ message MovingObject // Vehicle is a wheelchair. // TYPE_WHEELCHAIR = 15; + + // Vehicle is a stand-up or kickboard scooter, including motorized versions. + // + TYPE_STANDUP_SCOOTER = 17; } // From cd0ce7360f44bb8b69839c679e7285d0c1a334f2 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Mon, 12 Dec 2022 15:17:37 +0100 Subject: [PATCH 021/164] Fix whitespace issues Signed-off-by: Pierre R. Mai --- osi_object.proto | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index dfdca1c66..2cacb0d49 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -865,8 +865,9 @@ message MovingObject // Vehicle is a wheelchair. // TYPE_WHEELCHAIR = 15; - - // Vehicle is a stand-up or kickboard scooter, including motorized versions. + + // Vehicle is a stand-up or kickboard scooter, including + // motorized versions. // TYPE_STANDUP_SCOOTER = 17; } From 3c5c3a744ebc7b9278b7577c4818d2284f580dff Mon Sep 17 00:00:00 2001 From: Reinhard Biegel Date: Thu, 7 Jul 2022 12:35:33 +0200 Subject: [PATCH 022/164] Adapt ReferenceLine ST definition to avoid tranformation ambiguity and discontinuities Also-by: Weiss David Signed-off-by: Reinhard Biegel --- doc/images/OSI_ReferenceLine1.svg | 444 +++++++++++++++++++----------- osi_referenceline.proto | 100 ++++--- 2 files changed, 336 insertions(+), 208 deletions(-) diff --git a/doc/images/OSI_ReferenceLine1.svg b/doc/images/OSI_ReferenceLine1.svg index dcd7bc7ea..abc3ba1ec 100644 --- a/doc/images/OSI_ReferenceLine1.svg +++ b/doc/images/OSI_ReferenceLine1.svg @@ -2,36 +2,63 @@ + inkscape:version="1.1.2 (0a00cf5339, 2022-02-04)" + sodipodi:docname="s-t-calculation.svg" + xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" + xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" + xmlns="http://www.w3.org/2000/svg" + xmlns:svg="http://www.w3.org/2000/svg" + xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#" + xmlns:cc="http://creativecommons.org/ns#" + xmlns:dc="http://purl.org/dc/elements/1.1/"> + + + + + + + id="path4938" + d="m -2.5,-1 c 0,2.76 -2.24,5 -5,5 -2.76,0 -5,-2.24 -5,-5 0,-2.76 2.24,-5 5,-5 2.76,0 5,2.24 5,5 z" + style="fill:#005621;fill-opacity:1;fill-rule:evenodd;stroke:#005621;stroke-width:1pt;stroke-opacity:1" + transform="matrix(0.8,0,0,0.8,5.92,0.8)" /> + style="fill:#000f88;fill-opacity:1;fill-rule:evenodd;stroke:#000f88;stroke-width:1pt;stroke-opacity:1" + transform="matrix(0.8,0,0,0.8,5.92,0.8)" /> + + + + + + + id="path4598" + d="m -2.5,-1 c 0,2.76 -2.24,5 -5,5 -2.76,0 -5,-2.24 -5,-5 0,-2.76 2.24,-5 5,-5 2.76,0 5,2.24 5,5 z" + style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1pt;stroke-opacity:1" + transform="matrix(0.4,0,0,0.4,2.96,0.4)" /> + inkscape:window-maximized="1" + inkscape:pagecheckerboard="0" + inkscape:snap-global="true" + showguides="false" + fit-margin-top="5" + fit-margin-left="5" + fit-margin-right="5" + fit-margin-bottom="5" + inkscape:snap-text-baseline="false"> + + + + + + + @@ -90,7 +191,6 @@ image/svg+xml - @@ -98,159 +198,177 @@ inkscape:label="Ebene 1" inkscape:groupmode="layer" id="layer1" - transform="translate(4.3233347,-69.350064)"> + transform="translate(-8.60074,-63.836733)"> + - - - + style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" + d="M 132.54847,226.9366 33.44512,70.237989" + id="path3725" + inkscape:connector-curvature="0" + sodipodi:nodetypes="cc" /> + P2 + id="tspan5178" + x="73.119087" + y="246.23586" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583">P1 P3 + id="tspan5182" + x="97.160507" + y="209.23372" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583">P2 P1 - - + id="tspan5204" + x="38.95602" + y="75.694221" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;stroke-width:0.264583">I P4 - + id="tspan5208" + x="67.295532" + y="222.46956" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal">P1proj P5 - - - P2proj + - + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:4.23333px;line-height:1.25;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-variant-east-asian:normal;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:0.264583" + x="37.249924" + y="233.90164" + id="text7745">R0 + R1 + R2 + Reference line + t axis (R1) + t axis (R0) diff --git a/osi_referenceline.proto b/osi_referenceline.proto index 46a31f695..5419809ad 100644 --- a/osi_referenceline.proto +++ b/osi_referenceline.proto @@ -7,9 +7,9 @@ import "osi_common.proto"; package osi3; // -// \brief A reference line for defining a non-euclidean ST coordinate system +// \brief A reference line for defining a non-Euclidean ST coordinate system // -// A reference line is a 3D polyline, used for generating a non-euclidean +// A reference line is a 3D polyline, used for generating a non-Euclidean // ST coordinate system. // // Notes on design decisions: @@ -43,10 +43,10 @@ message ReferenceLine // - Later points in the list must have strictly larger S coordinates than // earlier points. // - For consecutive points, the S difference between them must be at - // least as large as the 2D euclidean distance between the points (2D - // distance == euclidean distance between the points taking only X and Y + // least as large as the 2D Euclidean distance between the points (2D + // distance == Euclidean distance between the points taking only X and Y // into account). - // - The S distance between two points may be larger than the 2D euclidean + // - The S distance between two points may be larger than the 2D Euclidean // distance, but should be not much larger. It is allowed to be larger if // the underlying reference line (e.g. in an OpenDRIVE map) is a curve, // and thus the sampled reference line has a smaller length than the original @@ -76,9 +76,9 @@ message ReferenceLine // first line of the polyline is infinitely extended in negative S // direction. Similarly, the last line of the polyline is infinitely // extended beyond the last point. The S value of points outside [\c - // sStart,\c sEnd] is defined by the euclidean 2D distance from the start + // sStart,\c sEnd] is defined by the Euclidean 2D distance from the start // or end point, respectively. So if sStart = 15, and a point - // is on the line extended from the start position, with a 2D euclidean + // is on the line extended from the start position, with a 2D Euclidean // distance of 10 from the first point, then it has an S position of 5. // // A point is "before" the reference line, if its s coordinate is < \c sStart. @@ -87,31 +87,33 @@ message ReferenceLine // ## Adding T coordinates // // To describe points that are not directly on the polyline, a T coordinate - // is added. T is the signed 2D distance (i.e. hypot(A.X-B.X, - // A.Y-B.Y), if A and B are the two points) between the point to - // describe and the nearest point on the polyline (this point might either - // be on a line segment or at an edge between two line segments). The - // distance is positive if the point is left of the polyline (in definition - // direction), negative if it is right of it. - // The S position of such a point outside the reference line is the same as - // the S value of the nearest point on the polyline. - // - // Notes: - // - The "nearest point on the polyline" is determined in 3D (even if the - // resulting T value is only the 2D distance), in order to choose the - // correct point for 3D curves (think reference lines for roads in parking - // decks). - // - If there are several "nearest points", the one with the smallest S - // coordinate on the polyline is chosen. + // is added. T is the signed 2D distance between the point to describe (P) + // and a projected point (P_proj) on the polyline. The T axis (projecting + // axis) is the line going through P and the intersection point (I). I is + // defined as the intersection of both T axes of two consecutive + // ReferenceLinePoints (see example and image below for illustration). The T + // coordinate of the point in question is then defined as + // hypot(P.X-P_proj.X,P.Y-P_proj.Y). The projected point P_proj + // might either be on a line segment or at an edge between two line segments. + // The distance is positive if the point is left of the polyline (in + // definition direction), negative if it is right of it. The S position of + // such a point outside the reference line is the same as the S value of the + // projected point on the polyline, resulting in all points on a single T + // axis having the same S coordinate. + // + // \note The ST coordinate system shall be defined in 2D only. When + // referencing any points (including the reference line), their projection + // onto the XY plane shall be considered (but notes on OpenDRIVE compatibility + // below should be considered). // // ## Defining angles // // Sometimes an angle to a reference line is needed. This shall be defined // as follows: - // First the nearest point on the polyline is determined, as described - // above. If this point is on a line segment, then the angle is calculated + // First the projected point on the polyline is determined, as described + // below. If this point is on a line segment, then the angle is calculated // relative to the line segment on which the reference point lays. - // If the nearest point is at the edge between line segments, then the + // If the projected point is at the edge between line segments, then the // angle of the following line shall be chosen. // // ## Converting between world coordinates and ST coordinates @@ -121,23 +123,23 @@ message ReferenceLine // coordinate. // // Example: - // \image html OSI_ReferenceLine1.svg - // - // This shows a reference line (consisting of three points), and five points - // not on the reference line. - // - // - For \c P1, the situation is clear, since there is exactly one nearest - // point on the polyline. The resulting ST coordinate uniquely maps back - // to \c P1. - // - \c P2 has multiple points "nearest points" on the polyline. - // As can be seen here, two ST coordinates map to \c P2 (red and grey - // dotted line). Following the rules above, the one with the smallest S - // value is chosen (the red dotted line). - // - \c P3 has a unique "nearest point" on the polyline. However, multiple - // points map to the same ST coordinate as that of \c P3, e.g. \c P4 - // (drawn in grey). - // - Finally, \c P5 shows how the reference line is extended infinitely for - // points that are "outside" the reference line. + // \image html OSI_ReferenceLine1.svg "S, T calculation" + // + // This shows a reference line (consisting of three points R0, R1 and R2) + // and two points (P1 and P2) not part of the reference line. + // + // Calculation of ST for P1: + // - Calculate the instersection point I of the T axes of R0 and R1. + // - As P1 lies in the sector defined by these T axes it is considered part + // of the reference line section between R0 and R1. + // - The point P1 is projected onto the line segment [R0, R1] via the + // straight line through I (by calculating the intersection of the line + // segment and the projection axis), resulting in point P1_proj. + // If the T axes are parallel, a simple orthogonal projection is used. + // - The S coordinate of P1 is the S coordinate of P1_proj + // - The T coordinate of P1 is the signed Euclidean distance to P1_proj. + // + // Calculation of P2 follows the same pattern. // // The sampling of the polyline must be chosen such that the error // when converting coordinates is "small enough". The exact needed @@ -158,7 +160,7 @@ message ReferenceLine // - It is preferable to have the reference line in the center of the road // (e.g. on a highway, it should be in the middle between the two driving // directions). Rationale: this makes S differences better approximate - // euclidean distances, compared to having the reference line at one side + // Euclidean distances, compared to having the reference line at one side // of a curvy road. // // ## Various notes @@ -202,6 +204,14 @@ message ReferenceLine // S position on the reference line // optional double s_position = 2; + + // Yaw angle of the T axis in the world coordinate system + // + // When converting from formats like OpenDRIVE, the yaw angle is equal to + // the angle of the normal to the reference line in the sampled point. + // + // Also see image "S, T coordinates" at #poly_line for reference. + // + optional double t_axis_yaw = 3; } } - From fb0e2cfb92acd9f4c71dd09c88ca2cf5191399f9 Mon Sep 17 00:00:00 2001 From: Reinhard Biegel Date: Tue, 19 Jul 2022 22:50:51 +0200 Subject: [PATCH 023/164] Clarify T coordinate definition in case of missing T axes intersection Signed-off-by: Reinhard Biegel --- osi_referenceline.proto | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/osi_referenceline.proto b/osi_referenceline.proto index 5419809ad..961549458 100644 --- a/osi_referenceline.proto +++ b/osi_referenceline.proto @@ -91,8 +91,11 @@ message ReferenceLine // and a projected point (P_proj) on the polyline. The T axis (projecting // axis) is the line going through P and the intersection point (I). I is // defined as the intersection of both T axes of two consecutive - // ReferenceLinePoints (see example and image below for illustration). The T - // coordinate of the point in question is then defined as + // ReferenceLinePoints (see example and image below for illustration). If + // both T axes of the neighboring ReferenceLinePoint are parallel (so no + // intersection point exists), the resulting T axis direction is equal to + // the T axis of these ReferenceLinePoints. + // The T coordinate of the point in question is then defined as // hypot(P.X-P_proj.X,P.Y-P_proj.Y). The projected point P_proj // might either be on a line segment or at an edge between two line segments. // The distance is positive if the point is left of the polyline (in @@ -129,13 +132,14 @@ message ReferenceLine // and two points (P1 and P2) not part of the reference line. // // Calculation of ST for P1: - // - Calculate the instersection point I of the T axes of R0 and R1. + // - Calculate the intersection point I of the T axes of R0 and R1. // - As P1 lies in the sector defined by these T axes it is considered part // of the reference line section between R0 and R1. // - The point P1 is projected onto the line segment [R0, R1] via the // straight line through I (by calculating the intersection of the line // segment and the projection axis), resulting in point P1_proj. - // If the T axes are parallel, a simple orthogonal projection is used. + // If the T axes are parallel, projection is applied in the direction of + // these axes. // - The S coordinate of P1 is the S coordinate of P1_proj // - The T coordinate of P1 is the signed Euclidean distance to P1_proj. // From 57c4226aef907afed9945744bac2a822ba0120f5 Mon Sep 17 00:00:00 2001 From: Reinhard Biegel Date: Wed, 20 Jul 2022 10:59:36 +0200 Subject: [PATCH 024/164] Re-add formatting markers Signed-off-by: Reinhard Biegel --- osi_referenceline.proto | 26 +++++++++++++------------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/osi_referenceline.proto b/osi_referenceline.proto index 961549458..0d1d4dad5 100644 --- a/osi_referenceline.proto +++ b/osi_referenceline.proto @@ -128,22 +128,22 @@ message ReferenceLine // Example: // \image html OSI_ReferenceLine1.svg "S, T calculation" // - // This shows a reference line (consisting of three points R0, R1 and R2) - // and two points (P1 and P2) not part of the reference line. - // - // Calculation of ST for P1: - // - Calculate the intersection point I of the T axes of R0 and R1. - // - As P1 lies in the sector defined by these T axes it is considered part - // of the reference line section between R0 and R1. - // - The point P1 is projected onto the line segment [R0, R1] via the - // straight line through I (by calculating the intersection of the line - // segment and the projection axis), resulting in point P1_proj. + // This shows a reference line (consisting of three points \c R0, \c R1 and + // \c R2) and two points (\c P1 and \c P2) not part of the reference line. + // + // Calculation of ST for \c P1: + // - Calculate the intersection point \c I of the T axes of \c R0 and \c R1. + // - As \c P1 lies in the sector defined by these T axes it is considered part + // of the reference line section between \c R0 and \c R1. + // - The point \c P1 is projected onto the line segment [\c R0, \c R1] via the + // straight line through \c I (by calculating the intersection of the line + // segment and the projection axis), resulting in point \c P1_proj. // If the T axes are parallel, projection is applied in the direction of // these axes. - // - The S coordinate of P1 is the S coordinate of P1_proj - // - The T coordinate of P1 is the signed Euclidean distance to P1_proj. + // - The S coordinate of \c P1 is the S coordinate of \c P1_proj + // - The T coordinate of \c P1 is the signed Euclidean distance to \c P1_proj. // - // Calculation of P2 follows the same pattern. + // Calculation of \c P2 follows the same pattern. // // The sampling of the polyline must be chosen such that the error // when converting coordinates is "small enough". The exact needed From c3fb715b4bd21511cb34561acf4189c557cc063d Mon Sep 17 00:00:00 2001 From: Reinhard Biegel Date: Fri, 30 Sep 2022 16:04:01 +0200 Subject: [PATCH 025/164] Clarify contraints on T axis Also-by: Weiss David Signed-off-by: Reinhard Biegel --- osi_referenceline.proto | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/osi_referenceline.proto b/osi_referenceline.proto index 0d1d4dad5..d0f907dd2 100644 --- a/osi_referenceline.proto +++ b/osi_referenceline.proto @@ -109,6 +109,18 @@ message ReferenceLine // onto the XY plane shall be considered (but notes on OpenDRIVE compatibility // below should be considered). // + // ## Rules on the T axis + // + // For the T axis at a specific ReferenceLinePoint the following rules apply: + // - The T axis shall be close to the angle bisector (to the left in S + // direction) of the neighboring ReferenceLine segments. + // - Small deviations from the angle bisector are allowed (e.g. to represent + // the T axis of OpenDRIVE, which is perpendicular to the OpenDRIVE + // reference line). + // - The T axis must be located inside the sectors spanned by rotating the + // normal of one neighboring ReferenceLine segment into the normal of the + // other ReferenceLine segment on the shortest way. + // // ## Defining angles // // Sometimes an angle to a reference line is needed. This shall be defined From 72778b4accd2722a6bb07021dd425d65f2a69bbb Mon Sep 17 00:00:00 2001 From: Weiss David Date: Wed, 19 Oct 2022 09:58:01 +0200 Subject: [PATCH 026/164] Introduce reference line type enum The type of a reference line will determine how S and T coordinates have to be calculated. Type POLYLINE is equal to the previous ST definition. A new type POLYLINE_WITH_T_AXIS is introduced for improved ST handling. Signed-off-by: Weiss David Signed-off-by: Reinhard Biegel --- osi_referenceline.proto | 40 +++++++++++++++++++++++++++++++++------- 1 file changed, 33 insertions(+), 7 deletions(-) diff --git a/osi_referenceline.proto b/osi_referenceline.proto index d0f907dd2..7fd64513d 100644 --- a/osi_referenceline.proto +++ b/osi_referenceline.proto @@ -31,6 +31,21 @@ message ReferenceLine // optional Identifier id = 1; + optional Type type = 3; + + enum Type + { + // ReferenceLine is a polyline, where the coordinates of points are + // calculated by projection onto the nearest point on the line. + // + POLYLINE = 0; + + // ReferenceLine is a polyline, where the coordinates of points are + // calculated using the t axis definition. + // + POLYLINE_WITH_T_AXIS = 1; + } + // Points comprising the polyline. // // At least 2 points must be given. @@ -88,13 +103,22 @@ message ReferenceLine // // To describe points that are not directly on the polyline, a T coordinate // is added. T is the signed 2D distance between the point to describe (P) - // and a projected point (P_proj) on the polyline. The T axis (projecting - // axis) is the line going through P and the intersection point (I). I is - // defined as the intersection of both T axes of two consecutive - // ReferenceLinePoints (see example and image below for illustration). If - // both T axes of the neighboring ReferenceLinePoint are parallel (so no - // intersection point exists), the resulting T axis direction is equal to - // the T axis of these ReferenceLinePoints. + // and a projected point (P_proj) on the polyline. There are two ways of + // defining this point, depending on the ReferenceLine type. + // + // ## Nearest point (Type POLYLINE) + // + // The projection point is the nearest point on the polyline (this point might + // either be on a line segment or at an edge between two line segments). + // + // ## T axis definition (Type POLYLINE_WITH_T_AXIS) + // + // The T axis (projecting axis) is the line going through P and the + // intersection point (I). I is defined as the intersection of both + // T axes of two consecutive ReferenceLinePoints (see example and + // image below for illustration). If both T axes of the neighboring + // ReferenceLinePoint are parallel (so no intersection point exists), the + // resulting T axis direction is equal to the T axis of these ReferenceLinePoints. // The T coordinate of the point in question is then defined as // hypot(P.X-P_proj.X,P.Y-P_proj.Y). The projected point P_proj // might either be on a line segment or at an edge between two line segments. @@ -228,6 +252,8 @@ message ReferenceLine // // Also see image "S, T coordinates" at #poly_line for reference. // + // \note This field is only set if the type of the reference line is POLYLINE_WITH_T_AXIS. + // optional double t_axis_yaw = 3; } } From 6ec28c49cc51dc6d4bb8d515ddcfea4500a21767 Mon Sep 17 00:00:00 2001 From: Reinhard Biegel Date: Wed, 19 Oct 2022 10:08:55 +0200 Subject: [PATCH 027/164] Missing enum member TYPE prefix Signed-off-by: Reinhard Biegel --- osi_referenceline.proto | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/osi_referenceline.proto b/osi_referenceline.proto index 7fd64513d..45e234944 100644 --- a/osi_referenceline.proto +++ b/osi_referenceline.proto @@ -38,12 +38,12 @@ message ReferenceLine // ReferenceLine is a polyline, where the coordinates of points are // calculated by projection onto the nearest point on the line. // - POLYLINE = 0; + TYPE_POLYLINE = 0; // ReferenceLine is a polyline, where the coordinates of points are // calculated using the t axis definition. // - POLYLINE_WITH_T_AXIS = 1; + TYPE_POLYLINE_WITH_T_AXIS = 1; } // Points comprising the polyline. @@ -106,12 +106,12 @@ message ReferenceLine // and a projected point (P_proj) on the polyline. There are two ways of // defining this point, depending on the ReferenceLine type. // - // ## Nearest point (Type POLYLINE) + // ## Nearest point (TYPE_POLYLINE) // // The projection point is the nearest point on the polyline (this point might // either be on a line segment or at an edge between two line segments). // - // ## T axis definition (Type POLYLINE_WITH_T_AXIS) + // ## T axis definition (TYPE_POLYLINE_WITH_T_AXIS) // // The T axis (projecting axis) is the line going through P and the // intersection point (I). I is defined as the intersection of both @@ -252,7 +252,7 @@ message ReferenceLine // // Also see image "S, T coordinates" at #poly_line for reference. // - // \note This field is only set if the type of the reference line is POLYLINE_WITH_T_AXIS. + // \note This field is only set if the type of the reference line is TYPE_POLYLINE_WITH_T_AXIS. // optional double t_axis_yaw = 3; } From dd9aa844d21db1a41ed9574374c50111d844e67e Mon Sep 17 00:00:00 2001 From: Reinhard Biegel Date: Wed, 19 Oct 2022 10:18:04 +0200 Subject: [PATCH 028/164] Add ReferenceLine Type documantation Signed-off-by: Reinhard Biegel --- osi_referenceline.proto | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/osi_referenceline.proto b/osi_referenceline.proto index 45e234944..d714ff970 100644 --- a/osi_referenceline.proto +++ b/osi_referenceline.proto @@ -31,8 +31,17 @@ message ReferenceLine // optional Identifier id = 1; + // The type of the reference line. + // optional Type type = 3; + // ReferenceLine types + // + // ReferenceLinePoints might be interpreted diffrently depending on the type + // of the ReferenceLine. + // + // See also: "Adding T coordinates" + // enum Type { // ReferenceLine is a polyline, where the coordinates of points are From 28e0b65fb36aba7eeb2a80f53234552a611be0b3 Mon Sep 17 00:00:00 2001 From: Reinhard Biegel Date: Mon, 7 Nov 2022 17:25:50 +0100 Subject: [PATCH 029/164] New ST calculation method cleanups Also-by: Weiss David Signed-off-by: Reinhard Biegel --- doc/images/OSI_ReferenceLine1.svg | 444 +++++++++++------------------- doc/images/OSI_ReferenceLine2.svg | 374 +++++++++++++++++++++++++ osi_referenceline.proto | 120 +++++--- 3 files changed, 619 insertions(+), 319 deletions(-) create mode 100644 doc/images/OSI_ReferenceLine2.svg diff --git a/doc/images/OSI_ReferenceLine1.svg b/doc/images/OSI_ReferenceLine1.svg index abc3ba1ec..dcd7bc7ea 100644 --- a/doc/images/OSI_ReferenceLine1.svg +++ b/doc/images/OSI_ReferenceLine1.svg @@ -2,63 +2,36 @@ + inkscape:version="0.92.3 (2405546, 2018-03-11)" + sodipodi:docname="OSI_ReferenceLine1.svg"> - - - - - - + id="path820" + d="M 0,0 5,-5 -12.5,0 5,5 Z" + style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1" + transform="matrix(-0.8,0,0,-0.8,-10,0)" + inkscape:connector-curvature="0" /> - - - - - - + style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1" + transform="matrix(0.8,0,0,0.8,5.92,0.8)" + inkscape:connector-curvature="0" /> + id="path820-8" + d="M 0,0 5,-5 -12.5,0 5,5 Z" + style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00000003pt;stroke-opacity:1" + transform="matrix(-0.8,0,0,-0.8,-10,0)" + inkscape:connector-curvature="0" /> - - - - - - - + inkscape:window-maximized="1" /> @@ -191,6 +90,7 @@ image/svg+xml + @@ -198,177 +98,159 @@ inkscape:label="Ebene 1" inkscape:groupmode="layer" id="layer1" - transform="translate(-8.60074,-63.836733)"> + transform="translate(4.3233347,-69.350064)"> - + + + - + style="fill:none;fill-rule:evenodd;stroke:#ff0000;stroke-width:0.39687496;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:0.79374994, 0.79374994;stroke-dashoffset:0;stroke-opacity:1" + d="m 98.49004,130.44497 -4.508408,-27.6934" + id="path3290" + inkscape:connector-curvature="0" /> P1 - P2 - I - P1proj - P2proj + id="tspan3660" + x="94.481003" + y="77.926521" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8791666px;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:start;writing-mode:lr-tb;text-anchor:start;stroke-width:0.39687496px">P2 R0 + id="tspan3664" + x="86.2771" + y="133.75755" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8791666px;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:start;writing-mode:lr-tb;text-anchor:start;stroke-width:0.39687496px">P3 R1 - R2 + id="tspan3668" + x="36.349869" + y="81.133736" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8791666px;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:start;writing-mode:lr-tb;text-anchor:start;stroke-width:0.39687496px">P1 + + Reference line + id="tspan3664-1" + x="103.64107" + y="129.40108" + style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:6.8791666px;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Normal';font-variant-ligatures:normal;font-variant-caps:normal;font-variant-numeric:normal;font-feature-settings:normal;text-align:start;writing-mode:lr-tb;text-anchor:start;stroke-width:0.39687496px">P4 + t axis (R1) - P5 + + + t axis (R0) + id="flowRoot8069" + style="fill:black;stroke:none;stroke-opacity:1;stroke-width:1px;stroke-linejoin:miter;stroke-linecap:butt;fill-opacity:1;font-family:'Courier 10 Pitch';font-style:normal;font-weight:normal;font-size:20px;line-height:125%;letter-spacing:0px;word-spacing:0px;-inkscape-font-specification:'Courier 10 Pitch, Normal';font-stretch:normal;font-variant:normal;text-anchor:start;text-align:start;writing-mode:lr"> + diff --git a/doc/images/OSI_ReferenceLine2.svg b/doc/images/OSI_ReferenceLine2.svg new file mode 100644 index 000000000..abc3ba1ec --- /dev/null +++ b/doc/images/OSI_ReferenceLine2.svg @@ -0,0 +1,374 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + image/svg+xml + + + + + + + + + + + + + P1 + P2 + I + P1proj + P2proj + R0 + R1 + R2 + Reference line + t axis (R1) + t axis (R0) + + diff --git a/osi_referenceline.proto b/osi_referenceline.proto index d714ff970..83a47d931 100644 --- a/osi_referenceline.proto +++ b/osi_referenceline.proto @@ -37,7 +37,7 @@ message ReferenceLine // ReferenceLine types // - // ReferenceLinePoints might be interpreted diffrently depending on the type + // ReferenceLinePoints might be interpreted differently depending on the type // of the ReferenceLine. // // See also: "Adding T coordinates" @@ -47,19 +47,25 @@ message ReferenceLine // ReferenceLine is a polyline, where the coordinates of points are // calculated by projection onto the nearest point on the line. // + // \attention DEPRECATED: Due to the shortcomings documenten below, this + // type will be removed in 4.0.0. + // TYPE_POLYLINE = 0; // ReferenceLine is a polyline, where the coordinates of points are - // calculated using the t axis definition. + // calculated using the T axis definition. + // + // \note If this type is used, ReferenceLinePoint::t_axis_yaw must be set. // TYPE_POLYLINE_WITH_T_AXIS = 1; } // Points comprising the polyline. // - // At least 2 points must be given. + // At least two points must be given. // The polyline is defined as the lines between consecutive points. - // Each point has an S coordinate. + // Each point has an S coordinate. Other attributes might be set, depending + // on the type of the polyline (see Type). // // ## Rules on the S position // @@ -113,34 +119,68 @@ message ReferenceLine // To describe points that are not directly on the polyline, a T coordinate // is added. T is the signed 2D distance between the point to describe (P) // and a projected point (P_proj) on the polyline. There are two ways of - // defining this point, depending on the ReferenceLine type. + // defining this point, depending on the ReferenceLine::Type (see below). + // + // The T coordinate of the point in question is then defined as + // hypot(P.X-P_proj.X,P.Y-P_proj.Y). The projected point P_proj + // might either be on a line segment or at an edge between two line segments. + // The distance is positive if the point is left of the polyline (in + // definition direction), negative if it is right of it. The S position of + // such a point outside the reference line is the same as the S value of the + // projected point on the polyline. // // ## Nearest point (TYPE_POLYLINE) // // The projection point is the nearest point on the polyline (this point might // either be on a line segment or at an edge between two line segments). // + // Notes: + // - The "nearest point on the polyline" is determined in 3D (even if the + // resulting T value is only the 2D distance), in order to choose the + // correct point for 3D curves (think reference lines for roads in parking + // decks). + // - If there are several "nearest points", the one with the smallest S + // coordinate on the polyline is chosen. + // + // Example: + // \image html OSI_ReferenceLine1.svg "S, T calculation using nearest point" + // + // This shows a reference line (consisting of three points), and five points + // not on the reference line. + // + // - For \c P1, the situation is clear, since there is exactly one nearest + // point on the polyline. The resulting ST coordinate uniquely maps back + // to \c P1. + // - \c P2 has multiple points "nearest points" on the polyline. + // As can be seen here, two ST coordinates map to \c P2 (red and grey + // dotted line). Following the rules above, the one with the smallest S + // value is chosen (the red dotted line). + // - \c P3 has a unique "nearest point" on the polyline. However, multiple + // points map to the same ST coordinate as that of \c P3, e.g. \c P4 + // (drawn in grey). + // - Finally, \c P5 shows how the reference line is extended infinitely for + // points that are "outside" the reference line. + // // ## T axis definition (TYPE_POLYLINE_WITH_T_AXIS) // + // The T axes of the two ReferenceLinePoints of each ReferenceLine segment + // define a sector (or strip if parallel) of the plane. A point is associated + // with the segment if it lies within this sector. For points being + // associated with multiple segments, the actual segment to consider is + // determined by the shortest 3D Euclidean distance between the point and the + // segments in question. + // // The T axis (projecting axis) is the line going through P and the // intersection point (I). I is defined as the intersection of both // T axes of two consecutive ReferenceLinePoints (see example and - // image below for illustration). If both T axes of the neighboring - // ReferenceLinePoint are parallel (so no intersection point exists), the - // resulting T axis direction is equal to the T axis of these ReferenceLinePoints. - // The T coordinate of the point in question is then defined as - // hypot(P.X-P_proj.X,P.Y-P_proj.Y). The projected point P_proj - // might either be on a line segment or at an edge between two line segments. - // The distance is positive if the point is left of the polyline (in - // definition direction), negative if it is right of it. The S position of - // such a point outside the reference line is the same as the S value of the - // projected point on the polyline, resulting in all points on a single T - // axis having the same S coordinate. + // image below for illustration). // - // \note The ST coordinate system shall be defined in 2D only. When - // referencing any points (including the reference line), their projection - // onto the XY plane shall be considered (but notes on OpenDRIVE compatibility - // below should be considered). + // Special cases: + // 1. If both T axes of the consecutive ReferenceLinePoint are parallel (so + // no intersection point exists), the resulting T axis orientation is equal + // to the T axis of these ReferenceLinePoints. + // 2. For the extended lines outside the defined range the projection axis is + // parallel to the T axis of the respective end point. // // ## Rules on the T axis // @@ -153,25 +193,12 @@ message ReferenceLine // - The T axis must be located inside the sectors spanned by rotating the // normal of one neighboring ReferenceLine segment into the normal of the // other ReferenceLine segment on the shortest way. - // - // ## Defining angles - // - // Sometimes an angle to a reference line is needed. This shall be defined - // as follows: - // First the projected point on the polyline is determined, as described - // below. If this point is on a line segment, then the angle is calculated - // relative to the line segment on which the reference point lays. - // If the projected point is at the edge between line segments, then the - // angle of the following line shall be chosen. - // - // ## Converting between world coordinates and ST coordinates - // - // The above rules define an ST coordinate system across the whole XY plane. - // Every XY position has a ST coordinate, but not necessarily a unique ST - // coordinate. + // - The T axis in the first and the last point of a ReferenceLine has to be + // perpendicular to the first and last segment of the ReferenceLine, + // respectively. // // Example: - // \image html OSI_ReferenceLine1.svg "S, T calculation" + // \image html OSI_ReferenceLine2.svg "S, T calculation using T axis" // // This shows a reference line (consisting of three points \c R0, \c R1 and // \c R2) and two points (\c P1 and \c P2) not part of the reference line. @@ -190,6 +217,22 @@ message ReferenceLine // // Calculation of \c P2 follows the same pattern. // + // ## Defining angles + // + // Sometimes an angle to a reference line is needed. This shall be defined + // as follows: + // First the projected point on the polyline is determined, as described + // below. If this point is on a line segment, then the angle is calculated + // relative to the line segment on which the reference point lays. + // If the projected point is at the edge between line segments, then the + // angle of the following line shall be chosen. + // + // ## Converting between world coordinates and ST coordinates + // + // The above rules define an ST coordinate system across the whole XY plane. + // Every XY position has an ST coordinate, but not necessarily a unique ST + // coordinate. + // // The sampling of the polyline must be chosen such that the error // when converting coordinates is "small enough". The exact needed // precision is defined for each user, where the reference line is @@ -261,7 +304,8 @@ message ReferenceLine // // Also see image "S, T coordinates" at #poly_line for reference. // - // \note This field is only set if the type of the reference line is TYPE_POLYLINE_WITH_T_AXIS. + // \note This field is only set if the type of the reference line is + // TYPE_POLYLINE_WITH_T_AXIS. // optional double t_axis_yaw = 3; } From 79e3994ca4230bf8dd0637ee07093f0c141c00d8 Mon Sep 17 00:00:00 2001 From: Reinhard Biegel Date: Wed, 9 Nov 2022 10:19:46 +0100 Subject: [PATCH 030/164] Note on ST coordinates to avoid confusion with other standards Also-by: Weiss David Signed-off-by: Reinhard Biegel --- osi_referenceline.proto | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/osi_referenceline.proto b/osi_referenceline.proto index 83a47d931..b6b3bc5e4 100644 --- a/osi_referenceline.proto +++ b/osi_referenceline.proto @@ -12,6 +12,11 @@ package osi3; // A reference line is a 3D polyline, used for generating a non-Euclidean // ST coordinate system. // +// \note This ST coordinate system is specific to OSI and not to be confused with +// similar definitions in other standards like OpenDRIVE or OpenSCENARIO 1.x. +// Nevertheless the goal of this definition is to approximate the source +// coordinates (e.g. OpenDRIVE). +// // Notes on design decisions: // - This is a polyline, and not some more complex curve. The advantage of a // polyline is that it is very simple to generate from various map formats, From 376923795bcfd3af65b47746820bb056015f4a7b Mon Sep 17 00:00:00 2001 From: FlorianMueller87 Date: Tue, 9 Aug 2022 15:54:30 +0200 Subject: [PATCH 031/164] Add DAY to TrafficSign-Value-Unit and change DAY to WEEKDAY Issue: #635 Signed-off-by: FlorianMueller87 --- osi_trafficsign.proto | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 4a68c35e2..aa00b6f8c 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -112,7 +112,7 @@ message TrafficSignValue // Day of the week. // Days since Monday. Monday = 0; Tuesday = 1; ... // - UNIT_DAY = 13; + UNIT_WEEKDAY = 13; // Percentage. // Value. @@ -120,6 +120,10 @@ message TrafficSignValue // Unit: % // UNIT_PERCENTAGE = 14; + + // Day of the month. + // + UNIT_DAY = 15; } // Text associated with a sign, e.g. the name of a location whose distance From 9b64ec26985f2c792971a871e5bcc6e6734968cd Mon Sep 17 00:00:00 2001 From: FlorianMueller87 Date: Tue, 9 Aug 2022 16:04:07 +0200 Subject: [PATCH 032/164] Add HOUR to TrafficSignsValue-Unit Issue: #635 Signed-off-by: FlorianMueller87 --- osi_trafficsign.proto | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index aa00b6f8c..397610af1 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -124,6 +124,13 @@ message TrafficSignValue // Day of the month. // UNIT_DAY = 15; + + // Time of day. + // Hour since midnight. + // + // Unit: h + // + UNIT_HOUR = 15; } // Text associated with a sign, e.g. the name of a location whose distance From 315989087cc177900690db9f37af7a96d590bbe9 Mon Sep 17 00:00:00 2001 From: FlorianMueller87 Date: Tue, 9 Aug 2022 16:06:15 +0200 Subject: [PATCH 033/164] Change description of UNIT_MINUTES Issue: #638 Signed-off-by: FlorianMueller87 --- osi_trafficsign.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 397610af1..12fbe3a88 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -103,7 +103,7 @@ message TrafficSignValue UNIT_SHORT_TON = 11; // Time of day. - // Hour since midnight. + // Minutes since last hour. // // Unit: min // From 399e5b019afa7e3197501ec406d5023087bb3072 Mon Sep 17 00:00:00 2001 From: FlorianMueller87 Date: Fri, 12 Aug 2022 08:45:01 +0200 Subject: [PATCH 034/164] Change value of UNIT_HOUR from 15 to 16 Signed-off-by: FlorianMueller87 --- osi_trafficsign.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 12fbe3a88..70d9336f9 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -130,7 +130,7 @@ message TrafficSignValue // // Unit: h // - UNIT_HOUR = 15; + UNIT_HOUR = 16; } // Text associated with a sign, e.g. the name of a location whose distance From 96f9f4827fd0889387475dd2dbab753417faf3ce Mon Sep 17 00:00:00 2001 From: Carlo van Driesten Date: Wed, 23 Nov 2022 11:51:40 +0100 Subject: [PATCH 035/164] Added changes for v3.6.0 * Added DURATION_* * Added UNIT_DAY_OF_MONTH * Added UNIT_HOUR for time of day * Fixed bug in comment for UNIT_MINUTES Signed-off-by: Carlo van Driesten --- osi_trafficsign.proto | 39 ++++++++++++++++++++++++++++++--------- 1 file changed, 30 insertions(+), 9 deletions(-) diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 70d9336f9..8bc362d72 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -101,18 +101,32 @@ message TrafficSignValue // Unit: tn. sh. // UNIT_SHORT_TON = 11; + + // Time of day. + // Hours since midnight. Starting with 0. + // + // Unit: h + // + UNIT_HOUR = 15; // Time of day. - // Minutes since last hour. + // Minutes since last hour. Starting with 0. // // Unit: min // UNIT_MINUTES = 12; + + // Day of the month. + // Starting with 1. + // + UNIT_DAY_OF_MONTH = 16; // Day of the week. // Days since Monday. Monday = 0; Tuesday = 1; ... // - UNIT_WEEKDAY = 13; + // \note For consistency this field will be renamed to UNIT_DAY_OF_WEEK in v4.0.0 . + // + UNIT_DAY = 13; // Percentage. // Value. @@ -120,17 +134,24 @@ message TrafficSignValue // Unit: % // UNIT_PERCENTAGE = 14; - - // Day of the month. + + // Duration in days. // - UNIT_DAY = 15; - - // Time of day. - // Hour since midnight. + // Unit: day + // + UNIT_DURATION_DAY = 17; + + // Duration in hours. // // Unit: h // - UNIT_HOUR = 16; + UNIT_DURATION_HOUR = 18; + + // Duration in minutes. + // + // Unit: min + // + UNIT_DURATION_MINUTE = 19; } // Text associated with a sign, e.g. the name of a location whose distance From 550107674b116aabb9fe21d21219c17c4795569a Mon Sep 17 00:00:00 2001 From: Maikol Drechsler Date: Tue, 25 Oct 2022 13:19:24 +0200 Subject: [PATCH 036/164] Update host vehicle data with kinematics data Include velocity, acceleration and orientation rate data related to the vehicle coordinate system in the host_vehicle_data message Signed-off-by: Maikol Drechsler --- osi_hostvehicledata.proto | 30 ++++++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index 78e7095a3..894730b2d 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -86,6 +86,11 @@ message HostVehicleData // \note OSI uses singular instead of plural for repeated field names. // repeated VehicleAutomatedDrivingFunction vehicle_automated_driving_function = 12; + + // Interface regarding the vehicle kinematics. + // + optional VehicleKinematics vehicle_kinematics = 13; + // // \brief Base parameters and overall states of the vehicle. @@ -337,6 +342,31 @@ message HostVehicleData optional GeodeticPosition geodetic_position = 3; } + // + // \brief Current calculated and estimated acceleration, velocity and orientation rate on Inertial Measurement Unit measurements and related sensors. + // + // This message contains the most accurate information the vehicle knows about its velocity, + // acceleration and orientation rate available in the on-board network. + // + message VehicleKinematics + { + // Most accurate velocity information of the vehicle, available in the on-board network. + // The velocity is represented in context to the coordinate system of the vehicle. + // + optional Vector3d velocity = 1; + + // Most accurate acceleration information of the vehicle, available in the on-board network. + // The acceleration is represented in context to the coordinate system of the vehicle. + // + optional Vector3d acceleration = 2; + + // Most accurate orientation rate of the vehicle, available in the on-board network. + // The orientation rate is represented in context to the coordinate system of the vehicle. + // + optional Orientation3d orientation_rate = 3; + } + + // // \brief State of one automated driving function on the host vehicle. // From a22d7f88df5092130f50a6d58342f072a82a85e4 Mon Sep 17 00:00:00 2001 From: Maikol Drechsler Date: Mon, 28 Nov 2022 11:11:42 +0100 Subject: [PATCH 037/164] Move added informaiton to VehicleLocalization Move velocity, acceleration and orientation rate data to VehicleLocalization message and add current_curvature. Signed-off-by: Maikol Drechsler --- osi_hostvehicledata.proto | 48 ++++++++++++++++++--------------------- 1 file changed, 22 insertions(+), 26 deletions(-) diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index 894730b2d..b3fa553bf 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -86,11 +86,6 @@ message HostVehicleData // \note OSI uses singular instead of plural for repeated field names. // repeated VehicleAutomatedDrivingFunction vehicle_automated_driving_function = 12; - - // Interface regarding the vehicle kinematics. - // - optional VehicleKinematics vehicle_kinematics = 13; - // // \brief Base parameters and overall states of the vehicle. @@ -316,10 +311,10 @@ message HostVehicleData } // - // \brief Current calculated and estimated location that can be based on GNSS and related navigation sensors. + // \brief Current calculated and estimated location, velocity and acceleration that can be based on GNSS, IMU 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 + // This message contains the most accurate information the vehicle knows about its position, velocity and acceleration // 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. @@ -340,33 +335,34 @@ message HostVehicleData // Most accurate geodetic information of the vehicle available in the on-board network. // optional GeodeticPosition geodetic_position = 3; - } - - // - // \brief Current calculated and estimated acceleration, velocity and orientation rate on Inertial Measurement Unit measurements and related sensors. - // - // This message contains the most accurate information the vehicle knows about its velocity, - // acceleration and orientation rate available in the on-board network. - // - message VehicleKinematics - { + + // Most accurate curvature currently followed by vehicle and available in the on-board network, + // measured from a localization system. + // + // Reference point: car body point coincident with the midpoint of rear axle in design configuration, defined by the following coordinates: + // x: Position of rear axle + // y: Vehicle longitudinal centerline + // z: Wheel center of rear axle + // + optional double current_curvature = 4; + + // Most accurate orientation rate of the vehicle, available in the on-board network. + // Measured along the vehicle orientation in context of the global inertial system. + // + optional Orientation3d orientation_rate = 5; + // Most accurate velocity information of the vehicle, available in the on-board network. - // The velocity is represented in context to the coordinate system of the vehicle. + // Measured along the vehicle orientation in context of the global inertial system. // - optional Vector3d velocity = 1; + optional Vector3d velocity = 6; // Most accurate acceleration information of the vehicle, available in the on-board network. - // The acceleration is represented in context to the coordinate system of the vehicle. + // Measured along the vehicle orientation in context of the global inertial system. // - optional Vector3d acceleration = 2; + optional Vector3d acceleration = 7; - // Most accurate orientation rate of the vehicle, available in the on-board network. - // The orientation rate is represented in context to the coordinate system of the vehicle. - // - optional Orientation3d orientation_rate = 3; } - // // \brief State of one automated driving function on the host vehicle. // From eca9ece8b68a4aee58ecd7cdab90b082f70bf97d Mon Sep 17 00:00:00 2001 From: Maikol Drechsler Date: Mon, 12 Dec 2022 17:27:01 +0100 Subject: [PATCH 038/164] Create New message VehicleMotion In order to have position and orientation in the same coordinate system as the velocity and the acceleration (rear axle) a new message (VehicleMotion) was included. Signed-off-by: Maikol Drechsler --- osi_hostvehicledata.proto | 62 +++++++++++++++++++++++++++------------ 1 file changed, 44 insertions(+), 18 deletions(-) diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index b3fa553bf..eacc3507c 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -87,6 +87,10 @@ message HostVehicleData // repeated VehicleAutomatedDrivingFunction vehicle_automated_driving_function = 12; + // Interface regarding the vehicle motion. + // + optional VehicleMotion vehicle_motion = 13; + // // \brief Base parameters and overall states of the vehicle. // @@ -311,10 +315,10 @@ message HostVehicleData } // - // \brief Current calculated and estimated location, velocity and acceleration that can be based on GNSS, IMU and related navigation sensors. + // \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, velocity and acceleration + // 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. @@ -335,31 +339,53 @@ message HostVehicleData // Most accurate geodetic information of the vehicle available in the on-board network. // optional GeodeticPosition geodetic_position = 3; + + } + + // + // \brief Current calculated and estimated motion related information. + // + // This message contains the most accurate information the vehicle knows about its motion + // including vehicle dynamics and control related information available in the on-board network, + // which can differ from the "true" values calculated out of the ground truth. + // + // This data uses the reference point coincident with the midpoint of rear axle, defined by the following coordinates: + // x: Position of rear axle + // y: Vehicle longitudinal centerline + // z: Wheel center of rear axle + // + message VehicleMotion + { + // Most accurate position of the vehicle available in the on-board network + // measured in the cartesian global coordinate system. + // + optional Vector3d position = 1; + + // Most accurate orientation information of the vehicle available in the on-board network + // measured on the vehicle coordinate system in context of the global inertial system. + // + optional Orientation3d orientation = 2; - // Most accurate curvature currently followed by vehicle and available in the on-board network, - // measured from a localization system. + // Most accurate curvature currently followed by vehicle and available in the on-board network // - // Reference point: car body point coincident with the midpoint of rear axle in design configuration, defined by the following coordinates: - // x: Position of rear axle - // y: Vehicle longitudinal centerline - // z: Wheel center of rear axle + // Unit: m^-1 // - optional double current_curvature = 4; + optional double current_curvature = 3; - // Most accurate orientation rate of the vehicle, available in the on-board network. - // Measured along the vehicle orientation in context of the global inertial system. + // Most accurate orientation rate of the vehicle, available in the on-board network + // measured on the vehicle coordinate system in context of the global inertial system. // - optional Orientation3d orientation_rate = 5; + optional Orientation3d orientation_rate = 4; - // Most accurate velocity information of the vehicle, available in the on-board network. - // Measured along the vehicle orientation in context of the global inertial system. + // Most accurate velocity information of the vehicle, available in the on-board network + // measured on the vehicle coordinate system in context of the global inertial system. // - optional Vector3d velocity = 6; + optional Vector3d velocity = 5; - // Most accurate acceleration information of the vehicle, available in the on-board network. - // Measured along the vehicle orientation in context of the global inertial system. + // Most accurate acceleration information of the vehicle, available in the on-board network + // measured on the vehicle coordinate system in context of the global inertial system. // - optional Vector3d acceleration = 7; + optional Vector3d acceleration = 6; } From 285dff98b78fb578f499abf2e1c481893fa9ca98 Mon Sep 17 00:00:00 2001 From: Maikol Drechsler Date: Fri, 27 Jan 2023 12:32:50 +0100 Subject: [PATCH 039/164] Include reference to bbcenter_to_rear According to discussion in CCB 2023-01-16: References to bbcenter_to_rear in description of VehicleMotion were included; Fields were reorder to match derivative structure; Comment were added to VehicleLocalization to indicate the reference point. Signed-off-by: Maikol Drechsler --- osi_hostvehicledata.proto | 37 ++++++++++++++++++------------------- 1 file changed, 18 insertions(+), 19 deletions(-) diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index eacc3507c..c8004b98f 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -323,10 +323,11 @@ message HostVehicleData // 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. // + // This data uses the reference point coincident with the center (x,y,z) of the bounding box. + // 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 + // Most accurate position information of the vehicle available in the on-board network // in context to the global coordinate system. // optional Vector3d position = 1; @@ -349,10 +350,8 @@ message HostVehicleData // including vehicle dynamics and control related information available in the on-board network, // which can differ from the "true" values calculated out of the ground truth. // - // This data uses the reference point coincident with the midpoint of rear axle, defined by the following coordinates: - // x: Position of rear axle - // y: Vehicle longitudinal centerline - // z: Wheel center of rear axle + // This data uses the reference point coincident with the middle (in x, y and z) of rear axle + // under neutral load conditions as defined in \c MovingObject::VehicleAttributes::bbcenter_to_rear. // message VehicleMotion { @@ -365,28 +364,28 @@ message HostVehicleData // measured on the vehicle coordinate system in context of the global inertial system. // optional Orientation3d orientation = 2; - - // Most accurate curvature currently followed by vehicle and available in the on-board network - // - // Unit: m^-1 + + // Most accurate velocity information of the vehicle, available in the on-board network + // measured on the vehicle coordinate system in context of the global inertial system. // - optional double current_curvature = 3; - + optional Vector3d velocity = 3; + // Most accurate orientation rate of the vehicle, available in the on-board network // measured on the vehicle coordinate system in context of the global inertial system. // optional Orientation3d orientation_rate = 4; - - // Most accurate velocity information of the vehicle, available in the on-board network - // measured on the vehicle coordinate system in context of the global inertial system. - // - optional Vector3d velocity = 5; // Most accurate acceleration information of the vehicle, available in the on-board network // measured on the vehicle coordinate system in context of the global inertial system. // - optional Vector3d acceleration = 6; - + optional Vector3d acceleration = 5; + + // Most accurate curvature currently followed by vehicle and available in the on-board network + // + // Unit: m^-1 + // + optional double current_curvature = 6; + } // From a79ff72ce8cf218651da44f3eb4ee70dc32eeae7 Mon Sep 17 00:00:00 2001 From: Maikol Drechsler Date: Mon, 30 Jan 2023 09:01:15 +0100 Subject: [PATCH 040/164] Improvement of the description Minor changes on the VehicleLocalization description Signed-off-by: Maikol Drechsler --- osi_hostvehicledata.proto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto index c8004b98f..cdd723118 100644 --- a/osi_hostvehicledata.proto +++ b/osi_hostvehicledata.proto @@ -328,12 +328,12 @@ message HostVehicleData message VehicleLocalization { // Most accurate position information of the vehicle available in the on-board network - // in context to the global coordinate system. + // measured 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. + // measured in context to the global coordinate system. // optional Orientation3d orientation = 2; From 33907ab1909431401e78425227cdfc3c324a0681 Mon Sep 17 00:00:00 2001 From: PhRosenberger Date: Mon, 18 Oct 2021 21:26:12 +0200 Subject: [PATCH 041/164] Adding the missing field for echo pulse width to logical detections for fused lidar detections Signed-off-by: PhRosenberger --- osi_logicaldetectiondata.proto | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/osi_logicaldetectiondata.proto b/osi_logicaldetectiondata.proto index b7b3865d5..bb85cb5b2 100644 --- a/osi_logicaldetectiondata.proto +++ b/osi_logicaldetectiondata.proto @@ -196,6 +196,24 @@ message LogicalDetection // Basic classification of the logical detection. // optional LogicalDetectionClassification classification = 11; + + // Echo pulse width of the logical 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). Sequential lidar sensor system simulation: a modular approach for simulation-based safety validation of automated driving 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 = 12; } // Definition of basic logical detection classifications. From 9de4e56217421f63dc20e3b51dde4f0f06f2d803 Mon Sep 17 00:00:00 2001 From: Thomas Bleher Date: Wed, 18 Jan 2023 15:08:04 +0100 Subject: [PATCH 042/164] Logical lanes: add street name The street name is helpful when displaying the map (e.g. for navigation purposes). The street name is added to the logical lanes, since the street name will typically come from the underlying map, and most map formats are more similar to logical lanes than to physical lanes. Signed-off-by: Thomas Bleher --- osi_logicallane.proto | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/osi_logicallane.proto b/osi_logicallane.proto index a0c28f602..f709a89a6 100644 --- a/osi_logicallane.proto +++ b/osi_logicallane.proto @@ -582,6 +582,10 @@ message LogicalLane // repeated LaneConnection successor_lane = 15; + // Name of the street this lane belongs to. + // + optional string street_name = 16; + // // Definition of available lane types. // From cc2fcc06d1af8f9feb083179086db747851e4514 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Wed, 25 Jan 2023 10:38:56 +0100 Subject: [PATCH 043/164] Add sensor-specific data to detected stationary objects This addresses #462 partially, probably data should also be added to detected traffic signs and lights. Maybe add to DetectedItemHeader instead? Needs to be harmonized with ISO 23150 as well. Signed-off-by: Pierre R. Mai --- osi_detectedobject.proto | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) diff --git a/osi_detectedobject.proto b/osi_detectedobject.proto index 41d0f240b..2e417a2e0 100644 --- a/osi_detectedobject.proto +++ b/osi_detectedobject.proto @@ -118,6 +118,34 @@ message DetectedStationaryObject // optional ColorDescription color_description = 5; + // Additional data that is specific to radar sensors. + // + // \note Field needs not to be set if simulated sensor is not a radar + // sensor. + // + optional RadarSpecificObjectData radar_specifics = 100; + + // Additional data that is specific to lidar sensors. + // + // \note Field needs not to be set if simulated sensor is not a lidar + // sensor. + // + optional LidarSpecificObjectData lidar_specifics = 101; + + // Additional data that is specific to camera sensors. + // + // \note Field needs not to be set if simulated sensor is not a camera + // sensor. + // + optional CameraSpecificObjectData camera_specifics = 102; + + // Additional data that is specific to ultrasonic sensors. + // + // \note Field needs not to be set if simulated sensor is not an ultrasonic + // sensor. + // + optional UltrasonicSpecificObjectData ultrasonic_specifics = 103; + // // \brief A candidate for a detected stationary object as estimated // by the sensor. From 1066206e8becbf55025d9581fa4f0c7ff6671ead Mon Sep 17 00:00:00 2001 From: Carlo van Driesten Date: Thu, 26 Jan 2023 08:09:45 +0100 Subject: [PATCH 044/164] corrected typo in osi_sesnsorspecific.proto Signed-off-by: Carlo van Driesten --- osi_sensorspecific.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_sensorspecific.proto b/osi_sensorspecific.proto index 48b3ca9af..19351132d 100644 --- a/osi_sensorspecific.proto +++ b/osi_sensorspecific.proto @@ -56,7 +56,7 @@ message UltrasonicSpecificObjectData // optional double maximum_measurement_distance_sensor = 1; - // This value indicates the propability height for the classification in the + // This value indicates the probability height for the classification in the // calculated object. // // Unit: % From 0ba6b519a7d7c1efd8b52db6f2a1b574cc634531 Mon Sep 17 00:00:00 2001 From: Markus Lemmer Date: Mon, 7 Dec 2020 18:45:34 +0100 Subject: [PATCH 045/164] Add top-level motion request message This serves as an interface between the HAD function and the actuator management. Signed-off-by: Radhakrishna Kothamasu Signed-off-by: Markus Lemmer --- osi_motionrequest.proto | 89 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 89 insertions(+) create mode 100644 osi_motionrequest.proto diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto new file mode 100644 index 000000000..8b32e5e4f --- /dev/null +++ b/osi_motionrequest.proto @@ -0,0 +1,89 @@ +syntax = "proto2"; + +option optimize_for = SPEED; + +import "osi_common.proto"; +import "osi_version.proto"; + +package osi3; + +// +// \brief This message is intended as an interface between a HAD (highly automated dricing) function and the actuator management. +// The HAD function can send either an a desired future trajectory ore a desired future state. +// The message to be used can be defined by a additional variable. +// +// All coordinates and orientations are relative to the global coordinate system. +// +message MotionRequest +{ + + // + // Define different options for had function ouput. + // Each option is corresponds to a field in the message. + // + enum OutputOptions { + DESIRED_STATE = 0; + TRAJECTORY = 1; + + } + + // + // Define the option that is used to specify the motion request. + // This must be set. Additionaly the field corresponding to the specified option must be set. + // + optional OutputOptions output_option = 1; + + // + // Defines a desired state. + // If the output option is set to DESIRED_STATE this must be provided. + // + optional DesiredState desired_state = 2; + + // + // Defines a desired trajectory. + // If the output option is set to DESIRED_TRAJECTORY this must be set. + // + optional Trajectory desired_trajectory = 3; +} + +// +// \brief Defined the trajectory desired by the had function. This trajectory is the result of the trajctory planning step +// in the HAD function. The task of the acutator management is to follow the trajectory as close as possible. +// The timestamps inside the trajecotry must be defined in global simulation time. +// +message Trajectory { + repeated StatePoint trajectory_point = 1; +} + +// +// \brief The desired state calculated by the had function as a result of the motion planning stack. +// The actuator management is supposed +// +message DesiredState +{ + + // + // The timestamp indicates at which point in time the state needs to be reached, + // given in global simulation time. + // + optional Timestamp timestamp = 1; + + // intended position to be reached in x and y direction. + // + optional Vector2d desired_pos = 2; + + // intended heading to be reached. + // + optional double desired_heading = 3; + + // intended velocity to be reached in x and y direction + // + optional Vector2d desired_velocity = 4; + + // intended acceleration to be reached in x and y direction + // + optional Vector2d desired_acceleration = 5; + +} + + From 7637bf38861561fc022595ee7f21b0fc62a42573 Mon Sep 17 00:00:00 2001 From: Markus Lemmer Date: Thu, 17 Dec 2020 14:38:20 +0100 Subject: [PATCH 046/164] Make MotionRequest positions and orientations 3D Also added somme comments for clarification of the coordinate system. Signed-off-by: Markus Lemmer --- osi_motionrequest.proto | 35 +++++++++++++++++------------------ 1 file changed, 17 insertions(+), 18 deletions(-) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index 8b32e5e4f..872b0d2d5 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -8,11 +8,12 @@ import "osi_version.proto"; package osi3; // -// \brief This message is intended as an interface between a HAD (highly automated dricing) function and the actuator management. -// The HAD function can send either an a desired future trajectory ore a desired future state. +// \brief This message is intended as an interface between a HAD (highly automated driving) function and the actuator management. +// The HAD function can send either a desired future trajectory ore a desired future state. // The message to be used can be defined by a additional variable. // // All coordinates and orientations are relative to the global coordinate system. +// The reference point of the vehicle is the center of the 3D bounding box of the vehicle. // message MotionRequest { @@ -24,14 +25,13 @@ message MotionRequest enum OutputOptions { DESIRED_STATE = 0; TRAJECTORY = 1; - } // // Define the option that is used to specify the motion request. // This must be set. Additionaly the field corresponding to the specified option must be set. // - optional OutputOptions output_option = 1; + optional OutputOptions output_option = 1; // // Defines a desired state. @@ -61,28 +61,27 @@ message Trajectory { // message DesiredState { + // + // The timestamp indicates at which point in time the state needs to be reached, + // given in global simulation time. + // + optional Timestamp timestamp = 1; - // - // The timestamp indicates at which point in time the state needs to be reached, - // given in global simulation time. - // - optional Timestamp timestamp = 1; - - // intended position to be reached in x and y direction. + // intended position to be reached in x, y and z direction. // - optional Vector2d desired_pos = 2; + optional Vector3d position = 2; - // intended heading to be reached. + // intended orientation to be reached containing roll, pitch and yaw angle // - optional double desired_heading = 3; + optional Orientation3d orientation = 3; - // intended velocity to be reached in x and y direction + // intended velocity to be reached in x, y and z direction // - optional Vector2d desired_velocity = 4; + optional Vector3d velocity = 4; - // intended acceleration to be reached in x and y direction + // intended acceleration to be reached in x, y and z direction // - optional Vector2d desired_acceleration = 5; + optional Vector3d acceleration = 5; } From 1ee24bc3ea20d4f1b4f56d29f19c930ac37a14e7 Mon Sep 17 00:00:00 2001 From: Katrin Mehl Date: Mon, 21 Dec 2020 09:30:04 +0100 Subject: [PATCH 047/164] Linguistic review of MotionRequest Signed-off-by: Katrin Mehl --- osi_motionrequest.proto | 24 ++++++++++++------------ osi_object.proto | 4 ++-- osi_trafficupdate.proto | 6 ++++++ 3 files changed, 20 insertions(+), 14 deletions(-) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index 872b0d2d5..63d744891 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -10,7 +10,7 @@ package osi3; // // \brief This message is intended as an interface between a HAD (highly automated driving) function and the actuator management. // The HAD function can send either a desired future trajectory ore a desired future state. -// The message to be used can be defined by a additional variable. +// The message can be defined by a additional variable. // // All coordinates and orientations are relative to the global coordinate system. // The reference point of the vehicle is the center of the 3D bounding box of the vehicle. @@ -19,7 +19,7 @@ message MotionRequest { // - // Define different options for had function ouput. + // Define different options for HAD function ouput. // Each option is corresponds to a field in the message. // enum OutputOptions { @@ -29,25 +29,25 @@ message MotionRequest // // Define the option that is used to specify the motion request. - // This must be set. Additionaly the field corresponding to the specified option must be set. + // This must be set. Additionally, the field corresponding to the specified option must be set. // optional OutputOptions output_option = 1; // // Defines a desired state. - // If the output option is set to DESIRED_STATE this must be provided. + // If the output option is set to DESIRED_STATE, this must be provided. // optional DesiredState desired_state = 2; // // Defines a desired trajectory. - // If the output option is set to DESIRED_TRAJECTORY this must be set. + // If the output option is set to DESIRED_TRAJECTORY, this must be set. // optional Trajectory desired_trajectory = 3; } // -// \brief Defined the trajectory desired by the had function. This trajectory is the result of the trajctory planning step +// \brief Defined the trajectory desired by the HAD function. This trajectory is the result of the trajctory planning step // in the HAD function. The task of the acutator management is to follow the trajectory as close as possible. // The timestamps inside the trajecotry must be defined in global simulation time. // @@ -56,30 +56,30 @@ message Trajectory { } // -// \brief The desired state calculated by the had function as a result of the motion planning stack. +// \brief The desired state calculated by the HAD function as a result of the motion planning stack. // The actuator management is supposed // message DesiredState { // - // The timestamp indicates at which point in time the state needs to be reached, + // The timestamp indicates the point in time the state needs to be reached, // given in global simulation time. // optional Timestamp timestamp = 1; - // intended position to be reached in x, y and z direction. + // intended position to be reached in x, y, and z direction. // optional Vector3d position = 2; - // intended orientation to be reached containing roll, pitch and yaw angle + // intended orientation to be reached containing roll, pitch, and yaw angle // optional Orientation3d orientation = 3; - // intended velocity to be reached in x, y and z direction + // intended velocity to be reached in x, y, and z direction // optional Vector3d velocity = 4; - // intended acceleration to be reached in x, y and z direction + // intended acceleration to be reached in x, y, and z direction // optional Vector3d acceleration = 5; diff --git a/osi_object.proto b/osi_object.proto index 2cacb0d49..d49e86a09 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -449,8 +449,8 @@ message MovingObject // realistic simulation of traffic participants that are not under test. // This information should not be made available to the stack under test. // - // \note Moving objects are not required to stick to this trajectory, it is - // indicative, and equivalent to the output of a perception + prediction + // \note Moving objects are not required to stick to this trajectory. It is + // indicative and equivalent to the output of a perception and prediction // system. // repeated StatePoint future_trajectory = 8; diff --git a/osi_trafficupdate.proto b/osi_trafficupdate.proto index 5b157c668..503678bf5 100644 --- a/osi_trafficupdate.proto +++ b/osi_trafficupdate.proto @@ -10,11 +10,17 @@ import "osi_hostvehicledata.proto"; package osi3; // +<<<<<<< HEAD // \brief The traffic update message is provided by traffic participant // models to provide updates to their position, state and future // trajectory back to the simulation environment. The message is // designed to update data of exactly one traffic participant, // optionally with an attached trailer. +======= +// \brief The traffic update message is provided by traffic +// participant models to provide updates to their position, state, +// and future trajectory back to the simulation environment. +>>>>>>> 9af16d40 (feat (docs): grammar) // // \note For reasons of convenience and consistency, the updated // information is provided as a MovingObject. Certain fields of this From 891a0d710e9c8b207957642c5a412b769f9e682d Mon Sep 17 00:00:00 2001 From: Markus Lemmer Date: Mon, 21 Dec 2020 09:44:07 +0100 Subject: [PATCH 048/164] Add missing explanation of desired state message Signed-off-by: Markus Lemmer Signed-off-by: Radhakrishna Kothamasu --- osi_motionrequest.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index 63d744891..c8daeaac1 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -57,7 +57,7 @@ message Trajectory { // // \brief The desired state calculated by the HAD function as a result of the motion planning stack. -// The actuator management is supposed +// The actuator management is supposed reach the desired state at the specified time. // message DesiredState { From 592981cf914b46043985c5364fb19c4ac262a9de Mon Sep 17 00:00:00 2001 From: Katrin Mehl Date: Mon, 21 Dec 2020 10:26:20 +0100 Subject: [PATCH 049/164] Linguistic review of MotionRequest Signed-off-by: Katrin Mehl --- osi_motionrequest.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index c8daeaac1..bcd4e7d20 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -57,7 +57,7 @@ message Trajectory { // // \brief The desired state calculated by the HAD function as a result of the motion planning stack. -// The actuator management is supposed reach the desired state at the specified time. +// The actuator management is supposed to reach the desired state at the specified time. // message DesiredState { From e13dfd5af3507ef7768d705ce317ab6223e359f1 Mon Sep 17 00:00:00 2001 From: Radhakrishna Kothamasu Date: Mon, 18 Jan 2021 14:29:46 +0100 Subject: [PATCH 050/164] Restructure MotionRequest message based on review Now DesiredState and Trajectory messages are part of one top level message MotionRequest. Signed-off-by: Radhakrishna Kothamasu --- osi_motionrequest.proto | 117 +++++++++++++++++++++++----------------- 1 file changed, 67 insertions(+), 50 deletions(-) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index bcd4e7d20..aae421117 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -17,72 +17,89 @@ package osi3; // message MotionRequest { + // 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. + // + // \note For sensor view data this timestamp coincides both with the + // notional simulation time the data applies to and the time it was sent + // (there is no inherent latency for sensor view data, as opposed to + // sensor data). + // + optional Timestamp timestamp = 2; - // - // Define different options for HAD function ouput. - // Each option is corresponds to a field in the message. - // - enum OutputOptions { - DESIRED_STATE = 0; - TRAJECTORY = 1; - } - // // Define the option that is used to specify the motion request. // This must be set. Additionally, the field corresponding to the specified option must be set. // - optional OutputOptions output_option = 1; - + optional OutputOptions output_option = 3; + // // Defines a desired state. // If the output option is set to DESIRED_STATE, this must be provided. // - optional DesiredState desired_state = 2; - + optional DesiredState desired_state = 4; + // // Defines a desired trajectory. // If the output option is set to DESIRED_TRAJECTORY, this must be set. // - optional Trajectory desired_trajectory = 3; -} + optional Trajectory desired_trajectory = 5; -// -// \brief Defined the trajectory desired by the HAD function. This trajectory is the result of the trajctory planning step -// in the HAD function. The task of the acutator management is to follow the trajectory as close as possible. -// The timestamps inside the trajecotry must be defined in global simulation time. -// -message Trajectory { - repeated StatePoint trajectory_point = 1; -} + // + // Define different options for HAD function ouput. + // Each option is corresponds to a field in the message. + // + enum OutputOptions + { + DESIRED_STATE = 0; + TRAJECTORY = 1; + } -// -// \brief The desired state calculated by the HAD function as a result of the motion planning stack. -// The actuator management is supposed to reach the desired state at the specified time. -// -message DesiredState -{ - // - // The timestamp indicates the point in time the state needs to be reached, - // given in global simulation time. - // - optional Timestamp timestamp = 1; + // + // \brief The desired state is calculated by the HAD function as a result of the motion planning stack. + // The actuator management is supposed to reach the desired state at the specified time. + // + message DesiredState + { + // + // The timestamp indicates the point in time the state needs to be reached, + // given in global simulation time. + // + optional Timestamp timestamp = 1; - // intended position to be reached in x, y, and z direction. - // - optional Vector3d position = 2; - - // intended orientation to be reached containing roll, pitch, and yaw angle - // - optional Orientation3d orientation = 3; - - // intended velocity to be reached in x, y, and z direction - // - optional Vector3d velocity = 4; - - // intended acceleration to be reached in x, y, and z direction - // - optional Vector3d acceleration = 5; + // intended position to be reached in x, y, and z direction. + // + optional Vector3d position = 2; -} + // intended orientation to be reached containing yaw, pitch and roll angle + // + optional Orientation3d orientation = 3; + + // intended velocity to be reached in x, y, and z direction + // + optional Vector3d velocity = 4; + // intended acceleration to be reached in x, y, and z direction + // + optional Vector3d acceleration = 5; + } + // + // \brief Defined trajectory desired by the HAD function. This trajectory is the result of the trajectory planning step + // in the HAD function. The task of the acutator management is to follow this trajectory as closely as possible. + // The timestamps inside the trajecotry must be defined in global simulation time. + // \note Trajectory is kept as a separate message for future extensions + // + message Trajectory + { + // consists of intended position (x, y, and z) and orientation (yaw, pitch and roll) of intended state to be reached + // + repeated StatePoint trajectory_point = 1; + } +} From 5c4b575686d003c5dc6fe2fbc02c53a854220222 Mon Sep 17 00:00:00 2001 From: Radhakrishna Kothamasu Date: Thu, 11 Feb 2021 12:14:16 +0100 Subject: [PATCH 051/164] Adjust MotionRequest to match OSI guidelines Signed-off-by: Radhakrishna Kothamasu --- osi_motionrequest.proto | 157 ++++++++++++++++++++-------------------- 1 file changed, 79 insertions(+), 78 deletions(-) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index aae421117..1a39fd480 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -9,11 +9,14 @@ package osi3; // // \brief This message is intended as an interface between a HAD (highly automated driving) function and the actuator management. +// // The HAD function can send either a desired future trajectory ore a desired future state. // The message can be defined by a additional variable. // +// \note The coordinate system is defined as right-handed. // All coordinates and orientations are relative to the global coordinate system. // The reference point of the vehicle is the center of the 3D bounding box of the vehicle. +// Units are m for positions, m/s for velocities, and m/s^2 for accelerations. // message MotionRequest { @@ -21,85 +24,83 @@ message MotionRequest // 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. - // - // \note For sensor view data this timestamp coincides both with the - // notional simulation time the data applies to and the time it was sent - // (there is no inherent latency for sensor view data, as opposed to - // sensor data). + // The data timestamp of the simulation environment. A reference to \c Timestamp message. // optional Timestamp timestamp = 2; - // - // Define the option that is used to specify the motion request. - // This must be set. Additionally, the field corresponding to the specified option must be set. - // - optional OutputOptions output_option = 3; - - // - // Defines a desired state. - // If the output option is set to DESIRED_STATE, this must be provided. - // - optional DesiredState desired_state = 4; - - // - // Defines a desired trajectory. - // If the output option is set to DESIRED_TRAJECTORY, this must be set. - // - optional Trajectory desired_trajectory = 5; - - // - // Define different options for HAD function ouput. - // Each option is corresponds to a field in the message. - // - enum OutputOptions - { - DESIRED_STATE = 0; - TRAJECTORY = 1; - } - - // - // \brief The desired state is calculated by the HAD function as a result of the motion planning stack. - // The actuator management is supposed to reach the desired state at the specified time. - // - message DesiredState - { - // - // The timestamp indicates the point in time the state needs to be reached, - // given in global simulation time. - // - optional Timestamp timestamp = 1; - - // intended position to be reached in x, y, and z direction. - // - optional Vector3d position = 2; - - // intended orientation to be reached containing yaw, pitch and roll angle - // - optional Orientation3d orientation = 3; - - // intended velocity to be reached in x, y, and z direction - // - optional Vector3d velocity = 4; - - // intended acceleration to be reached in x, y, and z direction - // - optional Vector3d acceleration = 5; - } - - // - // \brief Defined trajectory desired by the HAD function. This trajectory is the result of the trajectory planning step - // in the HAD function. The task of the acutator management is to follow this trajectory as closely as possible. - // The timestamps inside the trajecotry must be defined in global simulation time. - // \note Trajectory is kept as a separate message for future extensions - // - message Trajectory - { - // consists of intended position (x, y, and z) and orientation (yaw, pitch and roll) of intended state to be reached - // - repeated StatePoint trajectory_point = 1; - } + // Define the option that is used to specify the motion request. + // This must be set. Additionally, the field corresponding to the specified option must be set. + // + optional OutputOptions output_option = 3; + + // Defines a desired state. + // If the output option is set to DESIRED_STATE, this field must be set. + // + optional DesiredState desired_state = 4; + + // Defines a desired trajectory. + // If the output option is set to DESIRED_TRAJECTORY, this field must be set. + // + optional Trajectory desired_trajectory = 5; + + // Define different options for HAD function ouput. + // Each option is corresponds to a field in the message. + // + enum OutputOptions + { + // Desired state calculated by the HAD function. + // + OUTPUT_OPTIONS_DESIRED_STATE = 0; + + // Desired trajectory calculated by the HAD function. + // + OUTPUT_OPTIONS_TRAJECTORY = 1; + } + + // \brief The desired state is calculated by the HAD function as a result of the motion planning stack. + // + // The actuator management is supposed to reach the desired state at the specified time. + // + message DesiredState + { + // A reference to \c Timestamp message. + // + optional Timestamp timestamp = 1; + + // intended position to be reached in x, y, and z direction. + // + optional Vector3d position = 2; + + // intended orientation to be reached containing yaw, pitch and roll angle. + // + optional Orientation3d orientation = 3; + + // intended velocity to be reached in x, y, and z direction. + // + // Unit: m/s + // + optional Vector3d velocity = 4; + + // intended acceleration to be reached in x, y, and z direction. + // + // Unit: m/s^2 + // + optional Vector3d acceleration = 5; + } + + // \brief Defined trajectory desired by the HAD function. + // + // This trajectory is the result of the trajectory planning step in the HAD function. + // The task of the acutator management is to follow this trajectory as closely as possible. + // The timestamps inside the trajecotry must be defined in global simulation time. + // + // \note Trajectory is kept as a separate message for future extensions. + // + message Trajectory + { + // consists of intended position (x, y, and z) and orientation (yaw, pitch and roll) of intended state to be reached. + // A reference to \c StatePoint message. + // + repeated StatePoint trajectory_point = 1; + } } From ade69b5bc6844211a86017f74b95bbb5c30533e3 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin Date: Wed, 17 Feb 2021 09:55:10 +0100 Subject: [PATCH 052/164] Fix typos in MotionRequest message Signed-off-by: Maximilian Rosin Signed-off-by: Markus Lemmer --- osi_motionrequest.proto | 22 +++++++++++----------- osi_trafficupdate.proto | 6 ------ 2 files changed, 11 insertions(+), 17 deletions(-) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index 1a39fd480..1c34df457 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -10,8 +10,8 @@ package osi3; // // \brief This message is intended as an interface between a HAD (highly automated driving) function and the actuator management. // -// The HAD function can send either a desired future trajectory ore a desired future state. -// The message can be defined by a additional variable. +// The HAD function can send either a desired future trajectory or a desired future state. +// The message can be defined by an additional variable. // // \note The coordinate system is defined as right-handed. // All coordinates and orientations are relative to the global coordinate system. @@ -43,8 +43,8 @@ message MotionRequest // optional Trajectory desired_trajectory = 5; - // Define different options for HAD function ouput. - // Each option is corresponds to a field in the message. + // Define different options for HAD function output. + // Each option corresponds to a field in the message. // enum OutputOptions { @@ -67,21 +67,21 @@ message MotionRequest // optional Timestamp timestamp = 1; - // intended position to be reached in x, y, and z direction. + // Intended position to be reached in x, y, and z direction. // optional Vector3d position = 2; - // intended orientation to be reached containing yaw, pitch and roll angle. + // Intended orientation to be reached containing yaw, pitch and roll angle. // optional Orientation3d orientation = 3; - // intended velocity to be reached in x, y, and z direction. + // Intended velocity to be reached in x, y, and z direction. // // Unit: m/s // optional Vector3d velocity = 4; - // intended acceleration to be reached in x, y, and z direction. + // Intended acceleration to be reached in x, y, and z direction. // // Unit: m/s^2 // @@ -91,14 +91,14 @@ message MotionRequest // \brief Defined trajectory desired by the HAD function. // // This trajectory is the result of the trajectory planning step in the HAD function. - // The task of the acutator management is to follow this trajectory as closely as possible. - // The timestamps inside the trajecotry must be defined in global simulation time. + // The task of the actuator management is to follow this trajectory as closely as possible. + // The timestamps inside the trajectory must be defined in global simulation time. // // \note Trajectory is kept as a separate message for future extensions. // message Trajectory { - // consists of intended position (x, y, and z) and orientation (yaw, pitch and roll) of intended state to be reached. + // Consists of intended position (x, y, and z) and orientation (yaw, pitch and roll) of intended state to be reached. // A reference to \c StatePoint message. // repeated StatePoint trajectory_point = 1; diff --git a/osi_trafficupdate.proto b/osi_trafficupdate.proto index 503678bf5..5b157c668 100644 --- a/osi_trafficupdate.proto +++ b/osi_trafficupdate.proto @@ -10,17 +10,11 @@ import "osi_hostvehicledata.proto"; package osi3; // -<<<<<<< HEAD // \brief The traffic update message is provided by traffic participant // models to provide updates to their position, state and future // trajectory back to the simulation environment. The message is // designed to update data of exactly one traffic participant, // optionally with an attached trailer. -======= -// \brief The traffic update message is provided by traffic -// participant models to provide updates to their position, state, -// and future trajectory back to the simulation environment. ->>>>>>> 9af16d40 (feat (docs): grammar) // // \note For reasons of convenience and consistency, the updated // information is provided as a MovingObject. Certain fields of this From 1508ecaa86ec75b66b2c60dc98647b53be7d39bd Mon Sep 17 00:00:00 2001 From: Markus Lemmer Date: Thu, 4 Mar 2021 14:52:21 +0100 Subject: [PATCH 053/164] Add osi_motionrequest.proto to CMakeFile and setup.py Signed-off-by: Markus Lemmer --- CMakeLists.txt | 1 + setup.py | 1 + 2 files changed, 2 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index de03a73bd..7f37803ff 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -77,6 +77,7 @@ set(OSI_PROTO_FILES osi_environment.proto osi_groundtruth.proto osi_hostvehicledata.proto + osi_motionrequest.proto osi_trafficsign.proto osi_trafficlight.proto osi_trafficupdate.proto diff --git a/setup.py b/setup.py index 44ba7ba10..22b179acc 100644 --- a/setup.py +++ b/setup.py @@ -60,6 +60,7 @@ def find_protoc(): 'osi_lane.proto', 'osi_logicaldetectiondata.proto', 'osi_logicallane.proto', + 'osi_motionrequest.proto', 'osi_object.proto', 'osi_occupant.proto', 'osi_referenceline.proto', From d439267f42724794d3f15a22079883cb40616767 Mon Sep 17 00:00:00 2001 From: Maximilian Rosin Date: Mon, 9 Aug 2021 14:33:52 +0200 Subject: [PATCH 054/164] Fix minor typos, reflow comments on MotionRequest Signed-off-by: Maximilian Rosin --- osi_motionrequest.proto | 32 +++++++++++++++++++------------- 1 file changed, 19 insertions(+), 13 deletions(-) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index 1c34df457..8d239fd65 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -8,10 +8,11 @@ import "osi_version.proto"; package osi3; // -// \brief This message is intended as an interface between a HAD (highly automated driving) function and the actuator management. +// \brief This message is intended as an interface between a +// highly-automated-driving function (HAD function) and the actuator management. // -// The HAD function can send either a desired future trajectory or a desired future state. -// The message can be defined by an additional variable. +// The HAD function can either send a desired future trajectory or a desired +// future state. The message can be defined by an additional variable. // // \note The coordinate system is defined as right-handed. // All coordinates and orientations are relative to the global coordinate system. @@ -24,12 +25,14 @@ message MotionRequest // optional InterfaceVersion version = 1; - // The data timestamp of the simulation environment. A reference to \c Timestamp message. + // The data timestamp of the simulation environment. + // A reference to \c Timestamp message. // optional Timestamp timestamp = 2; // Define the option that is used to specify the motion request. - // This must be set. Additionally, the field corresponding to the specified option must be set. + // This must be set. Additionally, the field corresponding to the specified + // option must be set. // optional OutputOptions output_option = 3; @@ -57,9 +60,11 @@ message MotionRequest OUTPUT_OPTIONS_TRAJECTORY = 1; } - // \brief The desired state is calculated by the HAD function as a result of the motion planning stack. + // \brief The desired state is calculated by the HAD function as a result of + // the motion planning stack. // - // The actuator management is supposed to reach the desired state at the specified time. + // The actuator management is supposed to reach the desired state at the + // specified time. // message DesiredState { @@ -67,21 +72,21 @@ message MotionRequest // optional Timestamp timestamp = 1; - // Intended position to be reached in x, y, and z direction. + // Intended position to be reached in in x-, y-, and z-direction. // optional Vector3d position = 2; // Intended orientation to be reached containing yaw, pitch and roll angle. // - optional Orientation3d orientation = 3; + optional Orientation3d orientation = 3; - // Intended velocity to be reached in x, y, and z direction. + // Intended velocity to be reached in in x-, y-, and z-direction. // // Unit: m/s // optional Vector3d velocity = 4; - // Intended acceleration to be reached in x, y, and z direction. + // Intended acceleration to be reached in x-, y-, and z-direction. // // Unit: m/s^2 // @@ -94,11 +99,12 @@ message MotionRequest // The task of the actuator management is to follow this trajectory as closely as possible. // The timestamps inside the trajectory must be defined in global simulation time. // - // \note Trajectory is kept as a separate message for future extensions. + // \note The trajectory is kept as a separate message for future extensions. // message Trajectory { - // Consists of intended position (x, y, and z) and orientation (yaw, pitch and roll) of intended state to be reached. + // The trajectory consists of intended position (x, y, and z) and + // orientation (yaw, pitch and roll) of intended state to be reached. // A reference to \c StatePoint message. // repeated StatePoint trajectory_point = 1; From 2f632541d25a521deeba1d1098a0d67fcb584081 Mon Sep 17 00:00:00 2001 From: Markus Lemmer Date: Wed, 7 Dec 2022 11:14:20 +0100 Subject: [PATCH 055/164] Adjust names per conventions in MotionRequest Signed-off-by: Markus Lemmer --- osi_motionrequest.proto | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index 8d239fd65..279de573e 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -30,11 +30,11 @@ message MotionRequest // optional Timestamp timestamp = 2; - // Define the option that is used to specify the motion request. + // Define the type that is used to specify the motion request. // This must be set. Additionally, the field corresponding to the specified // option must be set. // - optional OutputOptions output_option = 3; + optional MotionRequestType motion_request_type = 3; // Defines a desired state. // If the output option is set to DESIRED_STATE, this field must be set. @@ -44,12 +44,12 @@ message MotionRequest // Defines a desired trajectory. // If the output option is set to DESIRED_TRAJECTORY, this field must be set. // - optional Trajectory desired_trajectory = 5; + optional DesiredTrajectory desired_trajectory = 5; // Define different options for HAD function output. // Each option corresponds to a field in the message. // - enum OutputOptions + enum MotionRequestType { // Desired state calculated by the HAD function. // @@ -101,7 +101,7 @@ message MotionRequest // // \note The trajectory is kept as a separate message for future extensions. // - message Trajectory + message DesiredTrajectory { // The trajectory consists of intended position (x, y, and z) and // orientation (yaw, pitch and roll) of intended state to be reached. From e738f1285545b66c9f9aec72da6cf48a10154aba Mon Sep 17 00:00:00 2001 From: Markus Lemmer Date: Mon, 23 Jan 2023 14:27:46 +0100 Subject: [PATCH 056/164] Remove explicit reference to HAD function, clarify intent Signed-off-by: Markus Lemmer --- osi_motionrequest.proto | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index 279de573e..c4391940d 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -9,9 +9,11 @@ package osi3; // // \brief This message is intended as an interface between a -// highly-automated-driving function (HAD function) and the actuator management. +// motion-planning function and the actuator management. +// The motion-planning function can thereby be a representation of a +// highly-automated driving function, a human driving behavior model, etc. // -// The HAD function can either send a desired future trajectory or a desired +// The motion-planning function can either send a desired future trajectory or a desired // future state. The message can be defined by an additional variable. // // \note The coordinate system is defined as right-handed. @@ -46,21 +48,21 @@ message MotionRequest // optional DesiredTrajectory desired_trajectory = 5; - // Define different options for HAD function output. + // Define different options for function output. // Each option corresponds to a field in the message. // enum MotionRequestType { - // Desired state calculated by the HAD function. + // Desired state calculated by the function. // OUTPUT_OPTIONS_DESIRED_STATE = 0; - // Desired trajectory calculated by the HAD function. + // Desired trajectory calculated by the function. // OUTPUT_OPTIONS_TRAJECTORY = 1; } - // \brief The desired state is calculated by the HAD function as a result of + // \brief The desired state is calculated by the function as a result of // the motion planning stack. // // The actuator management is supposed to reach the desired state at the @@ -93,9 +95,9 @@ message MotionRequest optional Vector3d acceleration = 5; } - // \brief Defined trajectory desired by the HAD function. + // \brief Defined trajectory desired by the function. // - // This trajectory is the result of the trajectory planning step in the HAD function. + // This trajectory is the result of the trajectory planning step in the function. // The task of the actuator management is to follow this trajectory as closely as possible. // The timestamps inside the trajectory must be defined in global simulation time. // From 98d033cc417533b2b4039d4a28b519b5c82ba079 Mon Sep 17 00:00:00 2001 From: Markus Lemmer Date: Thu, 2 Feb 2023 09:01:36 +0100 Subject: [PATCH 057/164] Rename enum types to comply with naming conventions Signed-off-by: Markus Lemmer --- osi_motionrequest.proto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index c4391940d..81a912d4a 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -55,11 +55,11 @@ message MotionRequest { // Desired state calculated by the function. // - OUTPUT_OPTIONS_DESIRED_STATE = 0; + MOTION_REQUEST_TYPE_DESIRED_STATE = 0; // Desired trajectory calculated by the function. // - OUTPUT_OPTIONS_TRAJECTORY = 1; + MOTION_REQUEST_TYPE_TRAJECTORY = 1; } // \brief The desired state is calculated by the function as a result of From e553528a538a1aaf19ba3fca9fb55f887cba20d1 Mon Sep 17 00:00:00 2001 From: Markus Lemmer Date: Thu, 2 Feb 2023 09:05:42 +0100 Subject: [PATCH 058/164] Change reference point to middle of the rear axis Signed-off-by: Markus Lemmer --- osi_common.proto | 3 ++- osi_motionrequest.proto | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/osi_common.proto b/osi_common.proto index 3243a37a7..ec84ed522 100644 --- a/osi_common.proto +++ b/osi_common.proto @@ -592,7 +592,8 @@ message StatePoint // Position in the global coordinate system. // // \note Remark: The definition of the reference point follows the - // specification of the \c BaseMoving message. + // specification of the \c BaseMoving message, if not specified otherwise + // in the message the StatePoint is used in. // optional Vector3d position = 2; diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index 81a912d4a..64a4f2751 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -18,7 +18,7 @@ package osi3; // // \note The coordinate system is defined as right-handed. // All coordinates and orientations are relative to the global coordinate system. -// The reference point of the vehicle is the center of the 3D bounding box of the vehicle. +// The reference point of the vehicle is the middle of the rear axis. // Units are m for positions, m/s for velocities, and m/s^2 for accelerations. // message MotionRequest From bfe758bed0ab7d890513d69187710871f4e2051f Mon Sep 17 00:00:00 2001 From: Markus Lemmer Date: Wed, 1 Mar 2023 09:32:39 +0100 Subject: [PATCH 059/164] Add additional note to trajectory point in desired trajectory Signed-off-by: Markus Lemmer --- osi_motionrequest.proto | 3 +++ 1 file changed, 3 insertions(+) diff --git a/osi_motionrequest.proto b/osi_motionrequest.proto index 64a4f2751..82560c8e6 100644 --- a/osi_motionrequest.proto +++ b/osi_motionrequest.proto @@ -109,6 +109,9 @@ message MotionRequest // orientation (yaw, pitch and roll) of intended state to be reached. // A reference to \c StatePoint message. // + // \note The position within the trajectory point references to the + // middle point of the rear axis. + // repeated StatePoint trajectory_point = 1; } } From 879aa0d33955864df9d1dca1df8f0acc56a40088 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Thu, 2 Mar 2023 11:15:32 +0100 Subject: [PATCH 060/164] Update local build tools Signed-off-by: Philip Windecker --- .gitignore | 3 +++ local_build_tools/compose.yml | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index ea4c2867a..26cc62ce5 100644 --- a/.gitignore +++ b/.gitignore @@ -40,3 +40,6 @@ githooks/pre-commit # PyCharm specific files .idea .vscode/settings.json + +# Local build tool output +local_build_tools/*.html diff --git a/local_build_tools/compose.yml b/local_build_tools/compose.yml index a37849c18..120d2b504 100644 --- a/local_build_tools/compose.yml +++ b/local_build_tools/compose.yml @@ -5,4 +5,4 @@ services: image: asciidoctor/docker-asciidoctor volumes: - ../:/documents - entrypoint: asciidoctor --failure-level WARN -r asciidoctor-kroki -a mathjax -r asciidoctor-bibtex --trace content/index.adoc -o local_build_tools/HTML_content_local_build.html \ No newline at end of file + entrypoint: asciidoctor -r asciidoctor-kroki -a mathjax --trace doc/open-simulation-interface_user_guide.adoc -o local_build_tools/HTML_content_local_build.html \ No newline at end of file From 2ff03e64a42d0d13e22a740bb369f791a9119a0b Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Thu, 2 Mar 2023 12:16:08 +0100 Subject: [PATCH 061/164] Fix paths in _config.adoc for local previews Signed-off-by: Philip Windecker --- doc/_config.adoc | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/doc/_config.adoc b/doc/_config.adoc index 513261341..89bae37f6 100644 --- a/doc/_config.adoc +++ b/doc/_config.adoc @@ -2,14 +2,11 @@ // This file contains AsciiDoc attributes that shall be used in every AsciiDoc file. // NOTE: Its content is only applied for Asciidoctor! // If the same attribute is defined in the antora.yml (without @), the antora.yml definition takes precedence for Antora. - ifndef::root-path[:root-path: ./] - :partials-path: {root-path}../_additional_content :asciidoc-resources: ../../../asciidoc-resources :appendix-caption: Annex :page-feedbackurl: https://github.com/OpenSimulationInterface/open-simulation-interface/issues/new - // ifndef::use-antora-rules,include-only-once[] ifndef::include-only-once[] :GLO_VAR_STA_ASAM_OpenCRG: ASAM OpenCRG @@ -27,13 +24,14 @@ ifndef::include-only-once[] // Replace PLACEHOLDER with the name of your standard, e.g. OpenDRIVE :THIS_STANDARD: {GLO_VAR_STA_ASAM_OSI} :asam-terminology: https://code.asam.net/common/asam-terminology/-/raw/main/terms_and_definitions_opendrive.adoc -:imagesdir: {root-path}/images +:imagesdir: {root-path}images :include-only-once: true :topicdir: topics :reusedir: reuse :toclevels: 3 :xrefstyle: full -:images_open_simulation_interface: {imagesdir} +:images_open_simulation_interface: ../images +:data-uri: // :images_osi-sensor-model-packaging: ./osi-sensor-model-packaging/doc/images :doc_open_simulation_interface: ../../open-simulation-interface/doc/ :doc_osi-sensor-model-packaging: ../../osi-sensor-model-packaging/doc/ @@ -43,13 +41,10 @@ ifndef::include-only-once[] // Please note that this variable has to used in all image includes. Includes here have to use "image::./images..." // :images_osi_sensor_model_packaging: ./osi-sensor-model-packaging/doc/images // example :imagesoutdir: ./images/generated_images - endif::[] - ifndef::use-antora-rules[] include::{asciidoc-resources}/preamble.adoc[] endif::[] - ifdef::env-gitlab[] :relfilesuffix: .adoc endif::[] From a3b4d50a3cca4f1e7830415b4f86e8895e2cad9e Mon Sep 17 00:00:00 2001 From: Markus Lemmer Date: Fri, 3 Mar 2023 09:59:01 +0100 Subject: [PATCH 062/164] Update pictures and documentation for MotionRequest Signed-off-by: Markus Lemmer --- doc/architecture/architecture_overview.adoc | 2 +- doc/architecture/motion_request.adoc | 8 ++++++++ doc/architecture/traffic_participant.adoc | 4 ++-- .../osi-traffic-participant-advanced.png | Bin 54822 -> 25763 bytes .../osi-traffic-participant-principle.png | Bin 23836 -> 11634 bytes .../osi-traffic-participant-use-case-1.png | Bin 70706 -> 28734 bytes .../osi-traffic-participant-use-case-2.png | Bin 77407 -> 32999 bytes .../osi-traffic-participant-use-case-3.png | Bin 85941 -> 37142 bytes doc/open-simulation-interface_user_guide.adoc | 2 ++ .../modeling_traffic_participant.adoc | 6 ++---- 10 files changed, 15 insertions(+), 7 deletions(-) create mode 100644 doc/architecture/motion_request.adoc diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 498427b40..872de7778 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -34,7 +34,7 @@ image::{images_open_simulation_interface}/osi-traffic-participant-advanced.png[1 The `HostVehicleData` interface describes the measured internal states of a traffic participant. OSI currently provides only limited support for data structures that describe measured internal states of traffic participants. -Actuator intentions are currently not covered by OSI and must be handled using a different data description format. +One example would be the `MotionRequest` interface that can be used to commuciate the results of the behavior planning to the dynamic model. NOTE: OSI uses singular instead of plural for `repeated` field names. diff --git a/doc/architecture/motion_request.adoc b/doc/architecture/motion_request.adoc new file mode 100644 index 000000000..e24a43608 --- /dev/null +++ b/doc/architecture/motion_request.adoc @@ -0,0 +1,8 @@ +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] += Motion Request + +`MotionRequest` messages are traffic participant internal messages. +They function as a interface between a motion/behavior planning model and a dynamics model including, for example, controllers and vehicle kinematics. \ No newline at end of file diff --git a/doc/architecture/traffic_participant.adoc b/doc/architecture/traffic_participant.adoc index 3418cc11f..33282cc0b 100644 --- a/doc/architecture/traffic_participant.adoc +++ b/doc/architecture/traffic_participant.adoc @@ -22,8 +22,8 @@ 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 models may use other OSI interfaces, for example, the `SensorDate` and `MotionRequest` message, internally. +The following figure shows a more advanced use case for traffic participants, that can, for example, be used to model an autonomous vehicle. 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The following figure shows a more complex traffic participant. @@ -41,7 +40,6 @@ This use case will probably be relevant for modeling the ego vehicle, which incl 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. @@ -54,4 +52,4 @@ It is possible to model a traffic participant with an AD function in the loop, b 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 +OSI currently provides only limited interfaces for data flow between the driver and the dynamics model. \ No newline at end of file From 2893ff212fb78c30acb023e163d50b96ba4a2b5d Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Mon, 13 Mar 2023 10:08:30 +0100 Subject: [PATCH 063/164] Apply suggestions from code review Signed-off-by: Pierre R. Mai --- doc/architecture/architecture_overview.adoc | 2 +- doc/architecture/traffic_participant.adoc | 2 +- doc/usecases/modeling_traffic_participant.adoc | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 872de7778..4fadeb8eb 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -34,7 +34,7 @@ image::{images_open_simulation_interface}/osi-traffic-participant-advanced.png[1 The `HostVehicleData` interface describes the measured internal states of a traffic participant. OSI currently provides only limited support for data structures that describe measured internal states of traffic participants. -One example would be the `MotionRequest` interface that can be used to commuciate the results of the behavior planning to the dynamic model. +One example would be the `MotionRequest` interface that can be used to communicate the results of the behavior planning to the dynamic model. NOTE: OSI uses singular instead of plural for `repeated` field names. diff --git a/doc/architecture/traffic_participant.adoc b/doc/architecture/traffic_participant.adoc index 33282cc0b..a1088d29a 100644 --- a/doc/architecture/traffic_participant.adoc +++ b/doc/architecture/traffic_participant.adoc @@ -22,7 +22,7 @@ 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, for example, the `SensorDate` and `MotionRequest` message, internally. +Traffic participant models may use other OSI interfaces, for example, the `SensorData` and `MotionRequest` message, internally. The following figure shows a more advanced use case for traffic participants, that can, for example, be used to model an autonomous vehicle. [#fig-traffic-participant-other-osi-interfaces] diff --git a/doc/usecases/modeling_traffic_participant.adoc b/doc/usecases/modeling_traffic_participant.adoc index c2dcb9f71..66fdbaf6b 100644 --- a/doc/usecases/modeling_traffic_participant.adoc +++ b/doc/usecases/modeling_traffic_participant.adoc @@ -28,7 +28,7 @@ The following figure shows a traffic participant with separately modeled behavio 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. -An example for a traffic participant interface is the `MotionRequest` message that can be used to communicate planned behaviors from a behavior planning model to a dynamics model including, for example motion controllers and vehicle dynamics. +An example for a traffic participant internal interface is the `MotionRequest` message that can be used to communicate planned behaviors from a behavior planning model to a dynamics model including, for example motion controllers and vehicle dynamics. The following figure shows a more complex traffic participant. From 9e6de77c3e5e95989eeb1da301b1330674fd4b07 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Fri, 21 Oct 2022 14:32:30 +0200 Subject: [PATCH 064/164] First set of release pipeline steps Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 80 +++++++++++++++++++++++++++++++++++ 1 file changed, 80 insertions(+) create mode 100644 .github/workflows/release.yml diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml new file mode 100644 index 000000000..d3002dd6a --- /dev/null +++ b/.github/workflows/release.yml @@ -0,0 +1,80 @@ +name: GitHub Release Pipeline + +on: + release: + types: [released] + +jobs: + setup: + name: Setup variables + runs-on: ubuntu-latest + steps: + - name: Set vars + run: VERSION=$(git describe --tags --always | sed 's/^v//') + + antora: + name: Generate Antora content + runs-on: ubuntu-22.04 + steps: + - name: Checkout Antora generator + uses: actions/checkout@v3 + with: + repository: OpenSimulationInterface/osi-antora-generator + path: antora + + - name: Manipulate site.yml + working_directory: antora + run: sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml + + - name: Run Antora + uses: docker://ghcr.io/asam-ev/project-guide-docker:4 + with: + entrypoint: sh + args: antora/run-build.sh + + deliverables: + name: Create deliverables package + runs-on: ubuntu-latest + steps: + - name: Checkout interface + uses: actions/checkout@v3 + with: + path: dist/open-simulation-interface + + - name: Checkout sensor model packaging + uses: actions/checkout@v3 + with: + repository: OpenSimulationInterface/osi-sensor-model-packaging + path: dist/osi-sensor-model-packaging + + - name: Create README + working_directory: dist + run: echo "/********************************************************************************** + *** ASAM OSI *** + *** Version : $VERSION *** + *** Date: $(cat DOCDATE) *** + **********************************************************************************/ + + the deliverables of ASAM OSI $VERSION include: + + - ASAM_OSI_Standard_$VERSION + - open_simulation_interface_$VERSION + - osi-sensor-model-packaging_$VERSION" > "ASAM_OSI_$VERSION/README.txt" + + - name: Create deliverables package + uses: actions/upload-artifact@v3 + with: + name: deliverables + path: dist + + + + publish: + name: Add deliverables to release + runs-on: ubuntu-latest + steps: + - name: Add deliverables to release + uses: irongut/EditRelease@v1.2.0 + with: + id: ${{ github.event.release.id }} + files: "deliverables.zip" \ No newline at end of file From d797b4f154ae3af89c04b45afddd9160dc050209 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Fri, 21 Oct 2022 14:34:13 +0200 Subject: [PATCH 065/164] fix step w/ sed Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index d3002dd6a..48126ca36 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -24,7 +24,8 @@ jobs: - name: Manipulate site.yml working_directory: antora - run: sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml + run: | + sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml - name: Run Antora uses: docker://ghcr.io/asam-ev/project-guide-docker:4 From be946b3241c3a85f25e5aa0a5f30ff993555880d Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 14:35:28 +0200 Subject: [PATCH 066/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 48126ca36..6ee10b82a 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -23,7 +23,7 @@ jobs: path: antora - name: Manipulate site.yml - working_directory: antora + working-directory: antora run: | sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml @@ -49,8 +49,9 @@ jobs: path: dist/osi-sensor-model-packaging - name: Create README - working_directory: dist - run: echo "/********************************************************************************** + working-directory: dist + run: | + echo "/********************************************************************************** *** ASAM OSI *** *** Version : $VERSION *** *** Date: $(cat DOCDATE) *** @@ -78,4 +79,4 @@ jobs: uses: irongut/EditRelease@v1.2.0 with: id: ${{ github.event.release.id }} - files: "deliverables.zip" \ No newline at end of file + files: "deliverables.zip" From 8de86468755a12ceb86f2cb076bbb130ceeb4839 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 14:42:50 +0200 Subject: [PATCH 067/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 6ee10b82a..25b107741 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -31,11 +31,12 @@ jobs: uses: docker://ghcr.io/asam-ev/project-guide-docker:4 with: entrypoint: sh - args: antora/run-build.sh + args: antora/antora --stacktrace --fetch --clean site.yml deliverables: name: Create deliverables package runs-on: ubuntu-latest + needs: [setup,antora] steps: - name: Checkout interface uses: actions/checkout@v3 @@ -74,6 +75,7 @@ jobs: publish: name: Add deliverables to release runs-on: ubuntu-latest + needs: [deliverables] steps: - name: Add deliverables to release uses: irongut/EditRelease@v1.2.0 From 19bb88578abcfc7f6f2aac1864141e01dc560b47 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 14:46:10 +0200 Subject: [PATCH 068/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 25b107741..76becaab9 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -31,7 +31,7 @@ jobs: uses: docker://ghcr.io/asam-ev/project-guide-docker:4 with: entrypoint: sh - args: antora/antora --stacktrace --fetch --clean site.yml + args: cd antora && antora --stacktrace --fetch --clean site.yml deliverables: name: Create deliverables package From 1ab5cc8331668c9c5a28807d1f5d4fbf018d421c Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 15:03:44 +0200 Subject: [PATCH 069/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 76becaab9..ca37f1eff 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -27,11 +27,15 @@ jobs: run: | sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml + - name: Create run instructions + run: echo "#!/bin/bash\n\ncd antora\nexec antora --stacktrace --fetch --clean site.yml" > antora.sh + - name: Run Antora uses: docker://ghcr.io/asam-ev/project-guide-docker:4 with: entrypoint: sh - args: cd antora && antora --stacktrace --fetch --clean site.yml + args: antora.sh + deliverables: name: Create deliverables package From 78c7781e7900670a79487e5c739fd495a37f07f8 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 15:51:25 +0200 Subject: [PATCH 070/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index ca37f1eff..0e67333a3 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -11,6 +11,8 @@ jobs: steps: - name: Set vars run: VERSION=$(git describe --tags --always | sed 's/^v//') + outputs: + VERSION: $VERSION antora: name: Generate Antora content @@ -58,15 +60,15 @@ jobs: run: | echo "/********************************************************************************** *** ASAM OSI *** - *** Version : $VERSION *** + *** Version : ${{ needs.setup.outputs.VERSION }} *** *** Date: $(cat DOCDATE) *** **********************************************************************************/ the deliverables of ASAM OSI $VERSION include: - - ASAM_OSI_Standard_$VERSION - - open_simulation_interface_$VERSION - - osi-sensor-model-packaging_$VERSION" > "ASAM_OSI_$VERSION/README.txt" + - ASAM_OSI_Standard_${{ needs.setup.outputs.VERSION }} + - open_simulation_interface_${{ needs.setup.outputs.VERSION }} + - osi-sensor-model-packaging_${{ needs.setup.outputs.VERSION }}" > "ASAM_OSI_${{ needs.setup.outputs.VERSION }}/README.txt" - name: Create deliverables package uses: actions/upload-artifact@v3 From a2be812d13d941db1a318700d1b6213d3ea3cc54 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 15:56:52 +0200 Subject: [PATCH 071/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 0e67333a3..c367f3701 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -9,15 +9,20 @@ jobs: name: Setup variables runs-on: ubuntu-latest steps: + - name: Checkout interface + uses: actions/checkout@v3 + with: + path: dist/open-simulation-interface - name: Set vars - run: VERSION=$(git describe --tags --always | sed 's/^v//') + working-directory: dist/open-simulation-interface + run: VERSION=$(git describe --tags --always | sed 's/^v//') && echo $VERSION outputs: VERSION: $VERSION antora: name: Generate Antora content runs-on: ubuntu-22.04 - steps: + steps: - name: Checkout Antora generator uses: actions/checkout@v3 with: @@ -44,10 +49,10 @@ jobs: runs-on: ubuntu-latest needs: [setup,antora] steps: - - name: Checkout interface - uses: actions/checkout@v3 - with: - path: dist/open-simulation-interface +# - name: Checkout interface +# uses: actions/checkout@v3 +# with: +# path: dist/open-simulation-interface - name: Checkout sensor model packaging uses: actions/checkout@v3 @@ -68,7 +73,7 @@ jobs: - ASAM_OSI_Standard_${{ needs.setup.outputs.VERSION }} - open_simulation_interface_${{ needs.setup.outputs.VERSION }} - - osi-sensor-model-packaging_${{ needs.setup.outputs.VERSION }}" > "ASAM_OSI_${{ needs.setup.outputs.VERSION }}/README.txt" + - osi-sensor-model-packaging_${{ needs.setup.outputs.VERSION }}" > "README.txt" - name: Create deliverables package uses: actions/upload-artifact@v3 From 82be0ee85ceef647080bdd7e33fca701cff2937b Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 16:07:54 +0200 Subject: [PATCH 072/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index c367f3701..4c2f5d720 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -75,21 +75,31 @@ jobs: - open_simulation_interface_${{ needs.setup.outputs.VERSION }} - osi-sensor-model-packaging_${{ needs.setup.outputs.VERSION }}" > "README.txt" + - name: Zip Release + uses: TheDoctor0/zip-release@0.6.2 + with: + filename: ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip + path: dist + - name: Create deliverables package uses: actions/upload-artifact@v3 with: name: deliverables - path: dist - - + path: dist/ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip publish: name: Add deliverables to release runs-on: ubuntu-latest needs: [deliverables] steps: + - name: Retrieve previous artifacts + uses: actions/download-artifacts@v3 + with: + name: deliverables + - name: Add deliverables to release uses: irongut/EditRelease@v1.2.0 with: + token: ${{ secrets.GITHUB_TOKEN }} id: ${{ github.event.release.id }} - files: "deliverables.zip" + files: "ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip" From 6204694d9063d0d10d81730edb972f267bc9cdb4 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 16:18:08 +0200 Subject: [PATCH 073/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 4c2f5d720..04c9d0d56 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -14,10 +14,13 @@ jobs: with: path: dist/open-simulation-interface - name: Set vars + id: vars working-directory: dist/open-simulation-interface - run: VERSION=$(git describe --tags --always | sed 's/^v//') && echo $VERSION + run: | + VERSION=$(git describe --tags --always | sed 's/^v//') >> $GITHUB_OUTPUT + echo $VERSION outputs: - VERSION: $VERSION + VERSION: ${{ steps.vars.outputs.VERSION }} antora: name: Generate Antora content @@ -63,6 +66,7 @@ jobs: - name: Create README working-directory: dist run: | + echo ${{needs.setup.outputs.VERSION}} echo "/********************************************************************************** *** ASAM OSI *** *** Version : ${{ needs.setup.outputs.VERSION }} *** @@ -74,6 +78,7 @@ jobs: - ASAM_OSI_Standard_${{ needs.setup.outputs.VERSION }} - open_simulation_interface_${{ needs.setup.outputs.VERSION }} - osi-sensor-model-packaging_${{ needs.setup.outputs.VERSION }}" > "README.txt" + cat README.txt - name: Zip Release uses: TheDoctor0/zip-release@0.6.2 @@ -90,7 +95,7 @@ jobs: publish: name: Add deliverables to release runs-on: ubuntu-latest - needs: [deliverables] + needs: [deliverables, setup] steps: - name: Retrieve previous artifacts uses: actions/download-artifacts@v3 From bc805ea289896b44a6ddd44435712306a22e8d4e Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 16:22:05 +0200 Subject: [PATCH 074/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 04c9d0d56..aa93330d5 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -86,11 +86,17 @@ jobs: filename: ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip path: dist + - name: test + run: | + ls -la + cd dist + ls -la + - name: Create deliverables package uses: actions/upload-artifact@v3 with: name: deliverables - path: dist/ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip + path: ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip publish: name: Add deliverables to release @@ -98,7 +104,7 @@ jobs: needs: [deliverables, setup] steps: - name: Retrieve previous artifacts - uses: actions/download-artifacts@v3 + uses: actions/download-artifact@v3 with: name: deliverables From ab78f04f613a23a4a9ad47b3e7d5fb2e6eaace4b Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 16:35:54 +0200 Subject: [PATCH 075/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 26 ++++++++++++++++++-------- 1 file changed, 18 insertions(+), 8 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index aa93330d5..878985bb7 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -45,28 +45,38 @@ jobs: with: entrypoint: sh args: antora.sh - + + - name: Create artifact + uses: actions/upload-artifact@v3 + with: + name: antora + path: antora/site deliverables: name: Create deliverables package runs-on: ubuntu-latest needs: [setup,antora] steps: -# - name: Checkout interface -# uses: actions/checkout@v3 -# with: -# path: dist/open-simulation-interface + - name: Checkout interface + uses: actions/checkout@v3 + with: + path: dist/open-simulation-interface - name: Checkout sensor model packaging uses: actions/checkout@v3 with: repository: OpenSimulationInterface/osi-sensor-model-packaging path: dist/osi-sensor-model-packaging + + - name: Retrieve Antora artifact + uses: actions/download-artifact@v3 + with: + name: antora - name: Create README working-directory: dist run: | - echo ${{needs.setup.outputs.VERSION}} + echo ${{ needs.setup.outputs.VERSION }} echo "/********************************************************************************** *** ASAM OSI *** *** Version : ${{ needs.setup.outputs.VERSION }} *** @@ -88,9 +98,9 @@ jobs: - name: test run: | - ls -la + ls cd dist - ls -la + ls - name: Create deliverables package uses: actions/upload-artifact@v3 From 70e2a808bce514fcc65a2593f1bb6248b76cdfab Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 16:38:41 +0200 Subject: [PATCH 076/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 878985bb7..906d77c1d 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -46,6 +46,9 @@ jobs: entrypoint: sh args: antora.sh + - name: Test + run: ls + - name: Create artifact uses: actions/upload-artifact@v3 with: From 822acf7abb5e625621f68dda8bd199e843135148 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 16:40:20 +0200 Subject: [PATCH 077/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 906d77c1d..3a9187db7 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -47,7 +47,9 @@ jobs: args: antora.sh - name: Test - run: ls + run: | + cd antora + ls - name: Create artifact uses: actions/upload-artifact@v3 From ec0813e79ec819c83706bd7ca27c53b8b0dc121f Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 16:44:13 +0200 Subject: [PATCH 078/164] Update release.yml test with original content Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 3a9187db7..b183aa831 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -35,7 +35,8 @@ jobs: - name: Manipulate site.yml working-directory: antora run: | - sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml + sed -i -E 's/doxygen: true//g' site.yml +# sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml - name: Create run instructions run: echo "#!/bin/bash\n\ncd antora\nexec antora --stacktrace --fetch --clean site.yml" > antora.sh From 4f16d574bc94f1e2e4d66e6284dc6529473aa8c3 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 16:48:38 +0200 Subject: [PATCH 079/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index b183aa831..5156357c5 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -35,9 +35,12 @@ jobs: - name: Manipulate site.yml working-directory: antora run: | + cat site.yml sed -i -E 's/doxygen: true//g' site.yml + cat site.yml # sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml + - name: Create run instructions run: echo "#!/bin/bash\n\ncd antora\nexec antora --stacktrace --fetch --clean site.yml" > antora.sh From bdfc5886b9cfdd829d71d003b314ed7f75914b9a Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 16:54:02 +0200 Subject: [PATCH 080/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 5156357c5..8469b57df 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -42,7 +42,12 @@ jobs: - name: Create run instructions - run: echo "#!/bin/bash\n\ncd antora\nexec antora --stacktrace --fetch --clean site.yml" > antora.sh + run: | + echo "#!/bin/bash + + cd antora + exec antora --stacktrace --fetch --clean site.yml" > antora.sh + cat antora.sh - name: Run Antora uses: docker://ghcr.io/asam-ev/project-guide-docker:4 From e94a4b48e0cee0301e52f6c8c01253c3d8e7f7f5 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 16:58:38 +0200 Subject: [PATCH 081/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 8469b57df..e95b57970 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -31,6 +31,7 @@ jobs: with: repository: OpenSimulationInterface/osi-antora-generator path: antora + submodules: true - name: Manipulate site.yml working-directory: antora From 233dd56bca7cf25fce14a758e339f16bdc5137ee Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 17:51:21 +0200 Subject: [PATCH 082/164] Update release.yml new release update job step Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 23 ++++------------------- 1 file changed, 4 insertions(+), 19 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index e95b57970..8bf708b70 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -36,10 +36,7 @@ jobs: - name: Manipulate site.yml working-directory: antora run: | - cat site.yml - sed -i -E 's/doxygen: true//g' site.yml - cat site.yml -# sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml + sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml - name: Create run instructions @@ -56,11 +53,6 @@ jobs: entrypoint: sh args: antora.sh - - name: Test - run: | - cd antora - ls - - name: Create artifact uses: actions/upload-artifact@v3 with: @@ -111,12 +103,6 @@ jobs: filename: ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip path: dist - - name: test - run: | - ls - cd dist - ls - - name: Create deliverables package uses: actions/upload-artifact@v3 with: @@ -134,8 +120,7 @@ jobs: name: deliverables - name: Add deliverables to release - uses: irongut/EditRelease@v1.2.0 + uses: svenstaro/upload-release-action@v2 with: - token: ${{ secrets.GITHUB_TOKEN }} - id: ${{ github.event.release.id }} - files: "ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip" + file: ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip + tag: ${{ github.ref }} From c088af74d1aa919da869af932c55a3efa86ec2ce Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 18:29:33 +0200 Subject: [PATCH 083/164] Update release.yml test with improved var usage Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 31 ++++++++++++++++++------------- 1 file changed, 18 insertions(+), 13 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 8bf708b70..eb7a0b47d 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -8,19 +8,19 @@ jobs: setup: name: Setup variables runs-on: ubuntu-latest + outputs: + version: ${{ steps.var_step.outputs.version }} steps: - name: Checkout interface uses: actions/checkout@v3 with: path: dist/open-simulation-interface - name: Set vars - id: vars + id: var_step working-directory: dist/open-simulation-interface run: | - VERSION=$(git describe --tags --always | sed 's/^v//') >> $GITHUB_OUTPUT - echo $VERSION - outputs: - VERSION: ${{ steps.vars.outputs.VERSION }} + version=$(git describe --tags --always | sed 's/^v//') >> $GITHUB_OUTPUT + echo $version antora: name: Generate Antora content @@ -80,34 +80,37 @@ jobs: with: name: antora + - run: | + echo ${{needs.setup.outputs.version}} + version=${{needs.setup.outputs.version}} + - name: Create README working-directory: dist run: | - echo ${{ needs.setup.outputs.VERSION }} echo "/********************************************************************************** *** ASAM OSI *** - *** Version : ${{ needs.setup.outputs.VERSION }} *** + *** Version : $version *** *** Date: $(cat DOCDATE) *** **********************************************************************************/ the deliverables of ASAM OSI $VERSION include: - - ASAM_OSI_Standard_${{ needs.setup.outputs.VERSION }} - - open_simulation_interface_${{ needs.setup.outputs.VERSION }} - - osi-sensor-model-packaging_${{ needs.setup.outputs.VERSION }}" > "README.txt" + - ASAM_OSI_Standard_$version + - open_simulation_interface_$version + - osi-sensor-model-packaging_$version" > "README.txt" cat README.txt - name: Zip Release uses: TheDoctor0/zip-release@0.6.2 with: - filename: ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip + filename: ASAM_OSI_$version.zip path: dist - name: Create deliverables package uses: actions/upload-artifact@v3 with: name: deliverables - path: ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip + path: ASAM_OSI_$version.zip publish: name: Add deliverables to release @@ -118,7 +121,9 @@ jobs: uses: actions/download-artifact@v3 with: name: deliverables - + + - run: version=${{needs.setup.outputs.version}} + - name: Add deliverables to release uses: svenstaro/upload-release-action@v2 with: From 1f8cbc3336ef60b8efac33711770dd1d24ce2a75 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 21 Oct 2022 18:56:06 +0200 Subject: [PATCH 084/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 25 ++++++++++++++----------- 1 file changed, 14 insertions(+), 11 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index eb7a0b47d..df56c4b86 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -9,18 +9,20 @@ jobs: name: Setup variables runs-on: ubuntu-latest outputs: - version: ${{ steps.var_step.outputs.version }} + output1: ${{ steps.var_step.outputs.version }} + output2: ${{ steps.var_step.outputs.docdate }} steps: - name: Checkout interface uses: actions/checkout@v3 with: path: dist/open-simulation-interface - - name: Set vars + - name: Set version id: var_step working-directory: dist/open-simulation-interface - run: | - version=$(git describe --tags --always | sed 's/^v//') >> $GITHUB_OUTPUT - echo $version + run: version=$(git describe --tags --always | sed 's/^v//') >> $GITHUB_OUTPUT + - name: Set date + id: date_step + run: echo "docdate=$(date +'%Y-%m-%d')" >> $GITHUB_OUTPUT antora: name: Generate Antora content @@ -80,9 +82,10 @@ jobs: with: name: antora - - run: | - echo ${{needs.setup.outputs.version}} - version=${{needs.setup.outputs.version}} + - run: echo ${{needs.setup.outputs.output1}} + - run: version=${{needs.setup.outputs.output1}} + - run: echo ${{needs.setup.outputs.output2}} + - run: docdate=${{needs.setup.outputs.output2}} - name: Create README working-directory: dist @@ -90,10 +93,10 @@ jobs: echo "/********************************************************************************** *** ASAM OSI *** *** Version : $version *** - *** Date: $(cat DOCDATE) *** + *** Date: $docdate *** **********************************************************************************/ - the deliverables of ASAM OSI $VERSION include: + The deliverables of ASAM OSI $VERSION include: - ASAM_OSI_Standard_$version - open_simulation_interface_$version @@ -127,5 +130,5 @@ jobs: - name: Add deliverables to release uses: svenstaro/upload-release-action@v2 with: - file: ASAM_OSI_${{ needs.setup.outputs.VERSION }}.zip + file: ASAM_OSI_$version.zip tag: ${{ github.ref }} From 38c0fe7301771fed99ede1950337bfab2d203c65 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 24 Oct 2022 09:10:47 +0200 Subject: [PATCH 085/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index df56c4b86..d0127dc93 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -9,8 +9,8 @@ jobs: name: Setup variables runs-on: ubuntu-latest outputs: - output1: ${{ steps.var_step.outputs.version }} - output2: ${{ steps.var_step.outputs.docdate }} + output1: ${{steps.var_step.outputs.version}} + output2: ${{steps.date_step.outputs.docdate}} steps: - name: Checkout interface uses: actions/checkout@v3 @@ -23,6 +23,7 @@ jobs: - name: Set date id: date_step run: echo "docdate=$(date +'%Y-%m-%d')" >> $GITHUB_OUTPUT + - run: echo ${{steps.var_step.outputs.version}} ${{steps.date_step.outputs.docdate}} antora: name: Generate Antora content From 2f67d7b353a68f21c03d68df473e793cec211c98 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 24 Oct 2022 09:14:48 +0200 Subject: [PATCH 086/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index d0127dc93..18e33e216 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -19,7 +19,8 @@ jobs: - name: Set version id: var_step working-directory: dist/open-simulation-interface - run: version=$(git describe --tags --always | sed 's/^v//') >> $GITHUB_OUTPUT + run: echo "version=$(git describe --tags --always | sed 's/^v//')" >> $GITHUB_OUTPUT + - name: Set date id: date_step run: echo "docdate=$(date +'%Y-%m-%d')" >> $GITHUB_OUTPUT From 6fb7176453bbec78698d4fd9b374d18e6921da01 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 24 Oct 2022 09:42:26 +0200 Subject: [PATCH 087/164] Update release.yml Added comments Updated use of variables Changed use of path/directory for zip-release Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 63 +++++++++++++++++------------------ 1 file changed, 31 insertions(+), 32 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 18e33e216..0cac4fdc8 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -5,132 +5,131 @@ on: types: [released] jobs: + ## Pepararation job for setting up relevant variables setup: name: Setup variables runs-on: ubuntu-latest + # Declare output variables to be usable in other jobs outputs: output1: ${{steps.var_step.outputs.version}} output2: ${{steps.date_step.outputs.docdate}} steps: + # Check out the GitHub repository - name: Checkout interface uses: actions/checkout@v3 with: path: dist/open-simulation-interface + # Set the version variable based on the latest tag (could be replaced with github-internal predefined variable?) - name: Set version id: var_step working-directory: dist/open-simulation-interface run: echo "version=$(git describe --tags --always | sed 's/^v//')" >> $GITHUB_OUTPUT - + # Set the release date (current date) - name: Set date id: date_step run: echo "docdate=$(date +'%Y-%m-%d')" >> $GITHUB_OUTPUT - - run: echo ${{steps.var_step.outputs.version}} ${{steps.date_step.outputs.docdate}} - + + ## Antora job, responsible for creating the Antora output of the release antora: name: Generate Antora content runs-on: ubuntu-22.04 steps: + # Check out the Antora generator - name: Checkout Antora generator uses: actions/checkout@v3 with: repository: OpenSimulationInterface/osi-antora-generator path: antora submodules: true - + # Remove building branches for the main repositories. This will lead to Antora only using the tagged versions to build its content. - name: Manipulate site.yml working-directory: antora run: | sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml - - + # Create custom build instructions for GitHub compatibility - name: Create run instructions run: | - echo "#!/bin/bash - cd antora exec antora --stacktrace --fetch --clean site.yml" > antora.sh cat antora.sh - + # Run Antora to generate the document - name: Run Antora uses: docker://ghcr.io/asam-ev/project-guide-docker:4 with: entrypoint: sh args: antora.sh - - - name: Create artifact + # Upload the created artifact for later jobs to use + - name: Upload artifact uses: actions/upload-artifact@v3 with: name: antora path: antora/site + ## Step for creating the zip file with all deliverables deliverables: name: Create deliverables package runs-on: ubuntu-latest needs: [setup,antora] steps: + # Check out the repository (again) - name: Checkout interface uses: actions/checkout@v3 with: path: dist/open-simulation-interface - + # Check out the sensor model packaging repo - name: Checkout sensor model packaging uses: actions/checkout@v3 with: repository: OpenSimulationInterface/osi-sensor-model-packaging path: dist/osi-sensor-model-packaging - + # Retrieve the Antora artifact from the previous job - name: Retrieve Antora artifact uses: actions/download-artifact@v3 with: name: antora - - - run: echo ${{needs.setup.outputs.output1}} - - run: version=${{needs.setup.outputs.output1}} - - run: echo ${{needs.setup.outputs.output2}} - - run: docdate=${{needs.setup.outputs.output2}} - + # Create the mandatory README.txt file for the deliverables package - name: Create README working-directory: dist run: | echo "/********************************************************************************** *** ASAM OSI *** - *** Version : $version *** - *** Date: $docdate *** + *** Version : ${{needs.setup.outputs.output1}} *** + *** Date: ${{needs.setup.outputs.output2}} *** **********************************************************************************/ The deliverables of ASAM OSI $VERSION include: - - ASAM_OSI_Standard_$version - - open_simulation_interface_$version - - osi-sensor-model-packaging_$version" > "README.txt" + - ASAM_OSI_Standard_${{needs.setup.outputs.output1}} + - open_simulation_interface_${{needs.setup.outputs.output1}} + - osi-sensor-model-packaging_${{needs.setup.outputs.output1}}" > "README.txt" cat README.txt - + # Package all collected deliverables - name: Zip Release uses: TheDoctor0/zip-release@0.6.2 with: filename: ASAM_OSI_$version.zip - path: dist - - - name: Create deliverables package + directory: dist + # Upload the created artifact for the publish job + - name: Upload artifact uses: actions/upload-artifact@v3 with: name: deliverables path: ASAM_OSI_$version.zip + ## Publishing step, where the created zip file is uploaded to the triggering release publication publish: name: Add deliverables to release runs-on: ubuntu-latest needs: [deliverables, setup] steps: + # Retrieve the previously uploaded deliverables artifact - name: Retrieve previous artifacts uses: actions/download-artifact@v3 with: name: deliverables - - - run: version=${{needs.setup.outputs.version}} - + # Add the new zip file with the deliverables to the respective release - name: Add deliverables to release uses: svenstaro/upload-release-action@v2 with: - file: ASAM_OSI_$version.zip + file: ASAM_OSI_${{needs.setup.outputs.output1}}.zip tag: ${{ github.ref }} From bf5c78ba0566a84ee60af757bacf2c5f9d618b55 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 24 Oct 2022 09:48:49 +0200 Subject: [PATCH 088/164] Update release.yml Fixed broken antora instructions Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 0cac4fdc8..ca36b566e 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -49,6 +49,8 @@ jobs: # Create custom build instructions for GitHub compatibility - name: Create run instructions run: | + echo "#!/bin/bash + cd antora exec antora --stacktrace --fetch --clean site.yml" > antora.sh cat antora.sh From 1c68d1b0ae3476d7f9feb0b22cd2de6264f94b62 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 24 Oct 2022 10:06:18 +0200 Subject: [PATCH 089/164] Update release.yml Get artifact from dist directory Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index ca36b566e..114c1f61d 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -95,11 +95,11 @@ jobs: run: | echo "/********************************************************************************** *** ASAM OSI *** - *** Version : ${{needs.setup.outputs.output1}} *** - *** Date: ${{needs.setup.outputs.output2}} *** + *** Version : ${{needs.setup.outputs.output1}} *** + *** Date: ${{needs.setup.outputs.output2}} *** **********************************************************************************/ - The deliverables of ASAM OSI $VERSION include: + The deliverables of ASAM OSI $VERSION include: - ASAM_OSI_Standard_${{needs.setup.outputs.output1}} - open_simulation_interface_${{needs.setup.outputs.output1}} @@ -116,7 +116,7 @@ jobs: uses: actions/upload-artifact@v3 with: name: deliverables - path: ASAM_OSI_$version.zip + path: dist/ASAM_OSI_$version.zip ## Publishing step, where the created zip file is uploaded to the triggering release publication publish: From 11f9c548f2179384a8f04dfe546da5aa6cfb1f8a Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 24 Oct 2022 10:19:32 +0200 Subject: [PATCH 090/164] Update release.yml Replaced outdated $version var Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 114c1f61d..80027f3a0 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -109,14 +109,14 @@ jobs: - name: Zip Release uses: TheDoctor0/zip-release@0.6.2 with: - filename: ASAM_OSI_$version.zip + filename: ASAM_OSI_${{needs.setup.outputs.output1}}.zip directory: dist # Upload the created artifact for the publish job - name: Upload artifact uses: actions/upload-artifact@v3 with: name: deliverables - path: dist/ASAM_OSI_$version.zip + path: dist/ASAM_OSI_${{needs.setup.outputs.output1}}.zip ## Publishing step, where the created zip file is uploaded to the triggering release publication publish: From 1efda9be6125472519537bb979c5cfcaaefce658 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 24 Oct 2022 10:34:41 +0200 Subject: [PATCH 091/164] Update release.yml Fixed README text Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 80027f3a0..f8a2d5fe6 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -94,9 +94,9 @@ jobs: working-directory: dist run: | echo "/********************************************************************************** - *** ASAM OSI *** - *** Version : ${{needs.setup.outputs.output1}} *** - *** Date: ${{needs.setup.outputs.output2}} *** + *** ASAM OSI *** + *** Version : ${{needs.setup.outputs.output1}} *** + *** Date: ${{needs.setup.outputs.output2}} *** **********************************************************************************/ The deliverables of ASAM OSI $VERSION include: From 621914638942daf716ccdaee41ccfef871f70836 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 24 Oct 2022 10:36:11 +0200 Subject: [PATCH 092/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index f8a2d5fe6..95adc0648 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -99,7 +99,7 @@ jobs: *** Date: ${{needs.setup.outputs.output2}} *** **********************************************************************************/ - The deliverables of ASAM OSI $VERSION include: + The deliverables of ASAM OSI v${{needs.setup.outputs.output1}} include: - ASAM_OSI_Standard_${{needs.setup.outputs.output1}} - open_simulation_interface_${{needs.setup.outputs.output1}} From 8529d40f6dd9a333d923a453669ed4548b80217f Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 24 Oct 2022 11:33:57 +0200 Subject: [PATCH 093/164] Update release.yml Changed to published Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 95adc0648..c25ef6966 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -2,7 +2,7 @@ name: GitHub Release Pipeline on: release: - types: [released] + types: [published] jobs: ## Pepararation job for setting up relevant variables From cadd87eb3b636e8db9c12c593c374d9df4ad012f Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 24 Oct 2022 13:22:55 +0200 Subject: [PATCH 094/164] Update release.yml Updated with special echo functions Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 23 +++++++++++++++-------- 1 file changed, 15 insertions(+), 8 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index c25ef6966..f8295743f 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -93,17 +93,24 @@ jobs: - name: Create README working-directory: dist run: | - echo "/********************************************************************************** - *** ASAM OSI *** - *** Version : ${{needs.setup.outputs.output1}} *** - *** Date: ${{needs.setup.outputs.output2}} *** - **********************************************************************************/ - - The deliverables of ASAM OSI v${{needs.setup.outputs.output1}} include: + declare -i char_count=84 + declare -i char_count_header=$char_count-1 + repeat(){ for i in $(eval echo {1..$1}); do echo -n "$2"; done; echo ""; } + fill(){ declare -i length=$1-${#2}-9; spaces=$(repeat $length ".");echo "***" "$2" "${spaces//./ }" "***"; } + name="ASAM OSI" + version="Version: ${{needs.setup.outputs.output1}}" + date="Date: ${{needs.setup.outputs.output2}}" + + echo "/$(repeat $char_count_header "*")" > README.txt + fill $char_count "$name" >> README.txt + fill $char_count "$version" >> README.txt + fill $char_count "$date" >> README.txt + echo "$(repeat $char_count_header "*")/" >> README.txt + echo The deliverables of ASAM OSI v${{needs.setup.outputs.output1}} include: - ASAM_OSI_Standard_${{needs.setup.outputs.output1}} - open_simulation_interface_${{needs.setup.outputs.output1}} - - osi-sensor-model-packaging_${{needs.setup.outputs.output1}}" > "README.txt" + - osi-sensor-model-packaging_${{needs.setup.outputs.output1}}" >> "README.txt" cat README.txt # Package all collected deliverables - name: Zip Release From ac2372bfbaa3b672dc8e5ed494716cd5e4e1b01e Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 24 Oct 2022 13:38:34 +0200 Subject: [PATCH 095/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index f8295743f..bc93ea3b6 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -106,7 +106,7 @@ jobs: fill $char_count "$version" >> README.txt fill $char_count "$date" >> README.txt echo "$(repeat $char_count_header "*")/" >> README.txt - echo The deliverables of ASAM OSI v${{needs.setup.outputs.output1}} include: + echo "The deliverables of ASAM OSI v${{needs.setup.outputs.output1}} include: - ASAM_OSI_Standard_${{needs.setup.outputs.output1}} - open_simulation_interface_${{needs.setup.outputs.output1}} From e509e15b024c99cf2ec733299a3e806f9f198f25 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Tue, 25 Oct 2022 09:23:01 +0200 Subject: [PATCH 096/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index bc93ea3b6..e8bd20208 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -89,7 +89,12 @@ jobs: uses: actions/download-artifact@v3 with: name: antora - # Create the mandatory README.txt file for the deliverables package + # Move downloaded Antora artifact to the correct location + - name: Move and rename Antora artifact (ASAM_OSI_Standard) + run: | + ls + mv antora/site/ dist/ASAM_OSI_Standard_${{needs.setup.outputs.output1}}/ + # Create the mandatory README.txt file for the deliverables package. The functions and variables declared below will create a readme file with a defined header, surrounded by a box made of "*". - name: Create README working-directory: dist run: | From cce49641420038718ee01ba9d598e3f9e354e7af Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Tue, 25 Oct 2022 09:40:02 +0200 Subject: [PATCH 097/164] Update release.yml download artifact into correct folder Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index e8bd20208..1438be802 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -89,11 +89,12 @@ jobs: uses: actions/download-artifact@v3 with: name: antora - # Move downloaded Antora artifact to the correct location - - name: Move and rename Antora artifact (ASAM_OSI_Standard) - run: | - ls - mv antora/site/ dist/ASAM_OSI_Standard_${{needs.setup.outputs.output1}}/ + path: dist/ASAM_OSI_Standard_${{needs.setup.outputs.output1}}/ +# # Move downloaded Antora artifact to the correct location +# - name: Move and rename Antora artifact (ASAM_OSI_Standard) +# run: | +# ls +# mv antora/site/ dist/ASAM_OSI_Standard_${{needs.setup.outputs.output1}}/ # Create the mandatory README.txt file for the deliverables package. The functions and variables declared below will create a readme file with a defined header, surrounded by a box made of "*". - name: Create README working-directory: dist From 9afc3c0bd3033fdce542dc2e29d542150d8cea90 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 9 Jan 2023 14:23:00 +0100 Subject: [PATCH 098/164] Update release.yml Added tagging for documentation and osmp repo Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 31 +++++++++++++++++++++++++++---- 1 file changed, 27 insertions(+), 4 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 1438be802..fecfcb966 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -28,7 +28,29 @@ jobs: - name: Set date id: date_step run: echo "docdate=$(date +'%Y-%m-%d')" >> $GITHUB_OUTPUT - + + tagging_update: + name: Update OSMP & Documentation + runs-on: ubuntu-22.04 + needs: [setup] + steps: + - name: Update OSMP + uses: peter-evans/repository-dispatch@v2 + with: + token: ${{ secrets.MACHINE_USER_PAT }} + event-type: update-tag +# repository: OpenSimulationInterface/osi-sensor-model-packaging + repository: philipwindecker/osi-sensor-model-packaging + client-payload: '{"tag": "${{needs.setup.outputs.output1}}-antora"}' + - name: Update Documentation + uses: peter-evans/repository-dispatch@v2 + with: + token: ${{ secrets.MACHINE_USER_PAT }} + event-type: update-tag +# repository: OpenSimulationInterface/osi-documentation + repository: philipwindecker/osi-documentation + client-payload: '{"tag": "${{needs.setup.outputs.output1}}-antora"}' + ## Antora job, responsible for creating the Antora output of the release antora: name: Generate Antora content @@ -38,7 +60,8 @@ jobs: - name: Checkout Antora generator uses: actions/checkout@v3 with: - repository: OpenSimulationInterface/osi-antora-generator +# repository: OpenSimulationInterface/osi-antora-generator + repository: philipwindecker/osi-antora-generator path: antora submodules: true # Remove building branches for the main repositories. This will lead to Antora only using the tagged versions to build its content. @@ -50,7 +73,6 @@ jobs: - name: Create run instructions run: | echo "#!/bin/bash - cd antora exec antora --stacktrace --fetch --clean site.yml" > antora.sh cat antora.sh @@ -82,7 +104,8 @@ jobs: - name: Checkout sensor model packaging uses: actions/checkout@v3 with: - repository: OpenSimulationInterface/osi-sensor-model-packaging +# repository: OpenSimulationInterface/osi-sensor-model-packaging + repository: philipwindecker/osi-sensor-model-packaging path: dist/osi-sensor-model-packaging # Retrieve the Antora artifact from the previous job - name: Retrieve Antora artifact From 7d79e662b72c79f2db41ec4834edbd5cac51cd20 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 9 Jan 2023 15:13:11 +0100 Subject: [PATCH 099/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index fecfcb966..5e9d5ae88 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -55,6 +55,7 @@ jobs: antora: name: Generate Antora content runs-on: ubuntu-22.04 + needs: [tagging_update] steps: # Check out the Antora generator - name: Checkout Antora generator From 877cd0162455ac5eef530bd34ec4f6efefb55fac Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 9 Jan 2023 16:34:51 +0100 Subject: [PATCH 100/164] Update release.yml Removed "-antora" from tag for osi-documentation. Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 5e9d5ae88..93a63c090 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -49,7 +49,7 @@ jobs: event-type: update-tag # repository: OpenSimulationInterface/osi-documentation repository: philipwindecker/osi-documentation - client-payload: '{"tag": "${{needs.setup.outputs.output1}}-antora"}' + client-payload: '{"tag": "${{needs.setup.outputs.output1}}"}' ## Antora job, responsible for creating the Antora output of the release antora: From 934c33c5013dc8d3ce71b185e4ee8625c9ca7a9b Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 9 Jan 2023 16:40:10 +0100 Subject: [PATCH 101/164] Update release.yml Add 1m delay before continuing the release action Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 93a63c090..0d4a58100 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -29,6 +29,7 @@ jobs: id: date_step run: echo "docdate=$(date +'%Y-%m-%d')" >> $GITHUB_OUTPUT + ## Tag and update related repositories before checking them out for Antora and the deliverables tagging_update: name: Update OSMP & Documentation runs-on: ubuntu-22.04 @@ -50,6 +51,11 @@ jobs: # repository: OpenSimulationInterface/osi-documentation repository: philipwindecker/osi-documentation client-payload: '{"tag": "${{needs.setup.outputs.output1}}"}' + - name: Provide downstream repos some time + uses: whatnick/wait-action@v0.1.2 + with: + time: '1m' + ## Antora job, responsible for creating the Antora output of the release antora: From a222c47782661bf504e192fc828a68bd9ad2b236 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Tue, 10 Jan 2023 14:13:54 +0100 Subject: [PATCH 102/164] Update release.yml Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 0d4a58100..7bb35125b 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -42,7 +42,7 @@ jobs: event-type: update-tag # repository: OpenSimulationInterface/osi-sensor-model-packaging repository: philipwindecker/osi-sensor-model-packaging - client-payload: '{"tag": "${{needs.setup.outputs.output1}}-antora"}' + client-payload: '{"tag": "v${{needs.setup.outputs.output1}}-antora"}' - name: Update Documentation uses: peter-evans/repository-dispatch@v2 with: @@ -50,7 +50,7 @@ jobs: event-type: update-tag # repository: OpenSimulationInterface/osi-documentation repository: philipwindecker/osi-documentation - client-payload: '{"tag": "${{needs.setup.outputs.output1}}"}' + client-payload: '{"tag": "v${{needs.setup.outputs.output1}}"}' - name: Provide downstream repos some time uses: whatnick/wait-action@v0.1.2 with: @@ -76,6 +76,7 @@ jobs: working-directory: antora run: | sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml + cat site.yml # Create custom build instructions for GitHub compatibility - name: Create run instructions run: | From 0ece28a4d36312a9529c4bac404780a56650d221 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Tue, 10 Jan 2023 17:30:55 +0100 Subject: [PATCH 103/164] Update release.yml Debug site.yml changes Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 7bb35125b..a3032f0d6 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -82,6 +82,7 @@ jobs: run: | echo "#!/bin/bash cd antora + cat site.yml exec antora --stacktrace --fetch --clean site.yml" > antora.sh cat antora.sh # Run Antora to generate the document From 4c184923d2ffdf6057cdbd375bb031a92eebbae5 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 13 Jan 2023 11:45:05 +0100 Subject: [PATCH 104/164] Update release.yml Changed version tag for OSMP from interface tag to osmp tag Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index a3032f0d6..aeae5cd7f 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -128,6 +128,10 @@ jobs: # ls # mv antora/site/ dist/ASAM_OSI_Standard_${{needs.setup.outputs.output1}}/ # Create the mandatory README.txt file for the deliverables package. The functions and variables declared below will create a readme file with a defined header, surrounded by a box made of "*". + - name: Get OSMP version + working-directoy: dist/osi-sensor-model-packaging + run: | + OSMP_VERSION="$(git describe --tags --exclude 'v*.*.*-antora' | sed 's/^v//')" - name: Create README working-directory: dist run: | @@ -148,7 +152,7 @@ jobs: - ASAM_OSI_Standard_${{needs.setup.outputs.output1}} - open_simulation_interface_${{needs.setup.outputs.output1}} - - osi-sensor-model-packaging_${{needs.setup.outputs.output1}}" >> "README.txt" + - osi-sensor-model-packaging_${OSMP_VERSION}" >> "README.txt" cat README.txt # Package all collected deliverables - name: Zip Release From 477d94e14bccbb84891a90a15caeb5fce78377b0 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 13 Jan 2023 12:29:05 +0100 Subject: [PATCH 105/164] Update release.yml Added suffix to repo dispatch notice Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index aeae5cd7f..7576ec5ef 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -13,6 +13,7 @@ jobs: outputs: output1: ${{steps.var_step.outputs.version}} output2: ${{steps.date_step.outputs.docdate}} + output3: ${{steps.var_step.outputs.suffix}} steps: # Check out the GitHub repository - name: Checkout interface @@ -23,7 +24,9 @@ jobs: - name: Set version id: var_step working-directory: dist/open-simulation-interface - run: echo "version=$(git describe --tags --always | sed 's/^v//')" >> $GITHUB_OUTPUT + run: | + echo "version=$(git describe --tags --always | sed 's/^v//')" >> $GITHUB_OUTPUT + echo "suffix=$(echo ${version} | sed -r 's/[[:digit:]]+\.[[:digit:]]+\.[[:digit:]]+//')" >> $GITHUB_OUTPUT # Set the release date (current date) - name: Set date id: date_step @@ -42,7 +45,7 @@ jobs: event-type: update-tag # repository: OpenSimulationInterface/osi-sensor-model-packaging repository: philipwindecker/osi-sensor-model-packaging - client-payload: '{"tag": "v${{needs.setup.outputs.output1}}-antora"}' + client-payload: '{"tag": "v${{needs.setup.outputs.output1}}-antora", "suffix": "${{needs.setup.outputs.output3}}"}' - name: Update Documentation uses: peter-evans/repository-dispatch@v2 with: From 0998897e2149843ff1fc72518f4f26f9b5bb5a37 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 13 Jan 2023 12:32:30 +0100 Subject: [PATCH 106/164] Update release.yml Fixed typo Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 7576ec5ef..76eb44e7e 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -132,7 +132,7 @@ jobs: # mv antora/site/ dist/ASAM_OSI_Standard_${{needs.setup.outputs.output1}}/ # Create the mandatory README.txt file for the deliverables package. The functions and variables declared below will create a readme file with a defined header, surrounded by a box made of "*". - name: Get OSMP version - working-directoy: dist/osi-sensor-model-packaging + working-directory: dist/osi-sensor-model-packaging run: | OSMP_VERSION="$(git describe --tags --exclude 'v*.*.*-antora' | sed 's/^v//')" - name: Create README From bac426b720cd5393587ed3dba2d2211009ee20d3 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 13 Jan 2023 14:41:18 +0100 Subject: [PATCH 107/164] Update release.yml Allocated more memory for JS due to large content size with multiple versions Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 76eb44e7e..de056078b 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -88,6 +88,9 @@ jobs: cat site.yml exec antora --stacktrace --fetch --clean site.yml" > antora.sh cat antora.sh + # Allocate more memory for large data sets! + - name: Allocate more memory for JavaScript + run: export NODE_OPTIONS="--max-old-space-size=8192" # Run Antora to generate the document - name: Run Antora uses: docker://ghcr.io/asam-ev/project-guide-docker:4 From f354c41808f76f659350baa3085d5f646b30690b Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 13 Jan 2023 17:00:52 +0100 Subject: [PATCH 108/164] Update release.yml Made suffix explicitly defined Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index de056078b..a3cfa0938 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -26,7 +26,7 @@ jobs: working-directory: dist/open-simulation-interface run: | echo "version=$(git describe --tags --always | sed 's/^v//')" >> $GITHUB_OUTPUT - echo "suffix=$(echo ${version} | sed -r 's/[[:digit:]]+\.[[:digit:]]+\.[[:digit:]]+//')" >> $GITHUB_OUTPUT + echo "suffix=$(git describe --tags --always | sed -r 's/^v[[:digit:]]+\.[[:digit:]]+\.[[:digit:]]+//')" >> $GITHUB_OUTPUT # Set the release date (current date) - name: Set date id: date_step From b5ad78bab3758486638da09d2d768accdc5ccedb Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 13 Jan 2023 17:28:11 +0100 Subject: [PATCH 109/164] Update release.yml Moved NODE_OPTIONS to image instructions Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index a3cfa0938..9bc447562 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -86,11 +86,9 @@ jobs: echo "#!/bin/bash cd antora cat site.yml + export NODE_OPTIONS="--max-old-space-size=8192" exec antora --stacktrace --fetch --clean site.yml" > antora.sh cat antora.sh - # Allocate more memory for large data sets! - - name: Allocate more memory for JavaScript - run: export NODE_OPTIONS="--max-old-space-size=8192" # Run Antora to generate the document - name: Run Antora uses: docker://ghcr.io/asam-ev/project-guide-docker:4 From 481d85c0ace80c5a386f21c142eb1978a0c27e60 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 13 Jan 2023 18:07:40 +0100 Subject: [PATCH 110/164] Update release.yml Removed -antora for OSMP to manage this in OSMP directly Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 9bc447562..ae8241eee 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -45,7 +45,7 @@ jobs: event-type: update-tag # repository: OpenSimulationInterface/osi-sensor-model-packaging repository: philipwindecker/osi-sensor-model-packaging - client-payload: '{"tag": "v${{needs.setup.outputs.output1}}-antora", "suffix": "${{needs.setup.outputs.output3}}"}' + client-payload: '{"tag": "v${{needs.setup.outputs.output1}}", "suffix": "${{needs.setup.outputs.output3}}"}' - name: Update Documentation uses: peter-evans/repository-dispatch@v2 with: From d1120e8cf3f7546c0f66a0fc5dc30625d2848978 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 13 Jan 2023 18:10:20 +0100 Subject: [PATCH 111/164] Update release.yml explicitly send repo to prevent manual changes when testing with forks Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index ae8241eee..d552410ae 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -45,7 +45,7 @@ jobs: event-type: update-tag # repository: OpenSimulationInterface/osi-sensor-model-packaging repository: philipwindecker/osi-sensor-model-packaging - client-payload: '{"tag": "v${{needs.setup.outputs.output1}}", "suffix": "${{needs.setup.outputs.output3}}"}' + client-payload: '{"tag": "v${{needs.setup.outputs.output1}}", "suffix": "${{needs.setup.outputs.output3}}", "source_repo": "${{ github.repository }}"}' - name: Update Documentation uses: peter-evans/repository-dispatch@v2 with: From 7331534f1ac93c1c359dfa800f9528c08a4d8377 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 13 Jan 2023 18:23:45 +0100 Subject: [PATCH 112/164] Update release.yml debug output Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index d552410ae..3ac89a9ea 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -135,6 +135,7 @@ jobs: - name: Get OSMP version working-directory: dist/osi-sensor-model-packaging run: | + ls OSMP_VERSION="$(git describe --tags --exclude 'v*.*.*-antora' | sed 's/^v//')" - name: Create README working-directory: dist From 940ac3fa907d6f99853e924cdb76398996f09a95 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Fri, 13 Jan 2023 19:13:15 +0100 Subject: [PATCH 113/164] Update release.yml Added fetch-depth 0 to OSMP for version creation Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 3ac89a9ea..34ae2c739 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -120,6 +120,7 @@ jobs: # repository: OpenSimulationInterface/osi-sensor-model-packaging repository: philipwindecker/osi-sensor-model-packaging path: dist/osi-sensor-model-packaging + fetch-depth: 0 # Retrieve the Antora artifact from the previous job - name: Retrieve Antora artifact uses: actions/download-artifact@v3 From a5597e2017f933eaadd8480ec346b6a31e47e6bd Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 16 Jan 2023 10:27:57 +0100 Subject: [PATCH 114/164] Update release.yml Persist variable for next step Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 34ae2c739..33cf4ea75 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -138,6 +138,7 @@ jobs: run: | ls OSMP_VERSION="$(git describe --tags --exclude 'v*.*.*-antora' | sed 's/^v//')" + echo "::set-env name=OSMP_VERSION::$OSMP_VERSION" - name: Create README working-directory: dist run: | From 5015db95aa6fd8d9e4432550c708552ebd93a99c Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 16 Jan 2023 10:55:59 +0100 Subject: [PATCH 115/164] Update release.yml Changed to environment Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 33cf4ea75..6bfb6c566 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -138,7 +138,7 @@ jobs: run: | ls OSMP_VERSION="$(git describe --tags --exclude 'v*.*.*-antora' | sed 's/^v//')" - echo "::set-env name=OSMP_VERSION::$OSMP_VERSION" + echo "OSMP_VERSION=$OSMP_VERSION" >> $GITHUB_ENV - name: Create README working-directory: dist run: | @@ -159,7 +159,7 @@ jobs: - ASAM_OSI_Standard_${{needs.setup.outputs.output1}} - open_simulation_interface_${{needs.setup.outputs.output1}} - - osi-sensor-model-packaging_${OSMP_VERSION}" >> "README.txt" + - osi-sensor-model-packaging_${{ env.OSMP_VERSION }}" >> "README.txt" cat README.txt # Package all collected deliverables - name: Zip Release From d70ded9924f982af83d8810947aee1e2c88a8670 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 16 Jan 2023 12:47:21 +0100 Subject: [PATCH 116/164] Update release.yml Added new exception for x-antora tags Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 6bfb6c566..93f6a73d1 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -136,8 +136,7 @@ jobs: - name: Get OSMP version working-directory: dist/osi-sensor-model-packaging run: | - ls - OSMP_VERSION="$(git describe --tags --exclude 'v*.*.*-antora' | sed 's/^v//')" + OSMP_VERSION="$(git describe --tags --exclude 'v*.*.*-antora' --exclude 'x-antora-v*.*.*'| sed 's/^v//')" echo "OSMP_VERSION=$OSMP_VERSION" >> $GITHUB_ENV - name: Create README working-directory: dist From a6ad70e5d329f5e5e6c2618f93780c97c5c94e2d Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Thu, 2 Mar 2023 17:33:53 +0100 Subject: [PATCH 117/164] Update release.yml Removed default behavior for branches Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 93f6a73d1..95c75d272 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -78,7 +78,7 @@ jobs: - name: Manipulate site.yml working-directory: antora run: | - sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)//g' site.yml + sed -i -E 's/branches: (.*) \# (open-.*|osi-.*)/branches: ~/g' site.yml cat site.yml # Create custom build instructions for GitHub compatibility - name: Create run instructions From 1e9ef798cea5c8a5b702291b57076bff573b34a6 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Mon, 27 Mar 2023 12:14:33 +0200 Subject: [PATCH 118/164] Reverted to original namespace Signed-off-by: Philip Windecker --- .github/workflows/release.yml | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 95c75d272..bcd14f5b1 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -43,16 +43,14 @@ jobs: with: token: ${{ secrets.MACHINE_USER_PAT }} event-type: update-tag -# repository: OpenSimulationInterface/osi-sensor-model-packaging - repository: philipwindecker/osi-sensor-model-packaging + repository: OpenSimulationInterface/osi-sensor-model-packaging client-payload: '{"tag": "v${{needs.setup.outputs.output1}}", "suffix": "${{needs.setup.outputs.output3}}", "source_repo": "${{ github.repository }}"}' - name: Update Documentation uses: peter-evans/repository-dispatch@v2 with: token: ${{ secrets.MACHINE_USER_PAT }} event-type: update-tag -# repository: OpenSimulationInterface/osi-documentation - repository: philipwindecker/osi-documentation + repository: OpenSimulationInterface/osi-documentation client-payload: '{"tag": "v${{needs.setup.outputs.output1}}"}' - name: Provide downstream repos some time uses: whatnick/wait-action@v0.1.2 @@ -70,8 +68,7 @@ jobs: - name: Checkout Antora generator uses: actions/checkout@v3 with: -# repository: OpenSimulationInterface/osi-antora-generator - repository: philipwindecker/osi-antora-generator + repository: OpenSimulationInterface/osi-antora-generator path: antora submodules: true # Remove building branches for the main repositories. This will lead to Antora only using the tagged versions to build its content. @@ -117,8 +114,7 @@ jobs: - name: Checkout sensor model packaging uses: actions/checkout@v3 with: -# repository: OpenSimulationInterface/osi-sensor-model-packaging - repository: philipwindecker/osi-sensor-model-packaging + repository: OpenSimulationInterface/osi-sensor-model-packaging path: dist/osi-sensor-model-packaging fetch-depth: 0 # Retrieve the Antora artifact from the previous job From 4ed71a956c73f4e55c75a95d58cf3c0d27ab57f6 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 3 Apr 2023 16:06:01 +0200 Subject: [PATCH 119/164] Update release.yml Added version numbers to folders in deliverables --- .github/workflows/release.yml | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index bcd14f5b1..1c7e5910a 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -109,7 +109,7 @@ jobs: - name: Checkout interface uses: actions/checkout@v3 with: - path: dist/open-simulation-interface + path: dist/open-simulation-interface_${{needs.setup.outputs.output1}} # Check out the sensor model packaging repo - name: Checkout sensor model packaging uses: actions/checkout@v3 @@ -123,11 +123,6 @@ jobs: with: name: antora path: dist/ASAM_OSI_Standard_${{needs.setup.outputs.output1}}/ -# # Move downloaded Antora artifact to the correct location -# - name: Move and rename Antora artifact (ASAM_OSI_Standard) -# run: | -# ls -# mv antora/site/ dist/ASAM_OSI_Standard_${{needs.setup.outputs.output1}}/ # Create the mandatory README.txt file for the deliverables package. The functions and variables declared below will create a readme file with a defined header, surrounded by a box made of "*". - name: Get OSMP version working-directory: dist/osi-sensor-model-packaging @@ -156,6 +151,7 @@ jobs: - open_simulation_interface_${{needs.setup.outputs.output1}} - osi-sensor-model-packaging_${{ env.OSMP_VERSION }}" >> "README.txt" cat README.txt + - mv osi-sensor-model-packaging osi-sensor-model-packaging_${{ env.OSMP_VERSION }} # Package all collected deliverables - name: Zip Release uses: TheDoctor0/zip-release@0.6.2 From db26a7b32fc7f6f00e42312c94e86f470239a642 Mon Sep 17 00:00:00 2001 From: Philip Windecker <95633467+philipwindecker@users.noreply.github.com> Date: Mon, 3 Apr 2023 16:36:25 +0200 Subject: [PATCH 120/164] Update release.yml Fixed typo --- .github/workflows/release.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml index 1c7e5910a..471651b6d 100644 --- a/.github/workflows/release.yml +++ b/.github/workflows/release.yml @@ -151,7 +151,7 @@ jobs: - open_simulation_interface_${{needs.setup.outputs.output1}} - osi-sensor-model-packaging_${{ env.OSMP_VERSION }}" >> "README.txt" cat README.txt - - mv osi-sensor-model-packaging osi-sensor-model-packaging_${{ env.OSMP_VERSION }} + mv osi-sensor-model-packaging osi-sensor-model-packaging_${{ env.OSMP_VERSION }} # Package all collected deliverables - name: Zip Release uses: TheDoctor0/zip-release@0.6.2 From 102ef46e424036d52fbf450bb82cabbd1ca8dca7 Mon Sep 17 00:00:00 2001 From: RIFJo Date: Thu, 15 Dec 2022 15:11:33 +0100 Subject: [PATCH 121/164] (feat SensorModelling) add pixel_order field refers to #620 Adds a "pixel_order" field and enum to allow mirrored versions of the pixel layouts. This is the result of the discussions with the participants in the sensor modelling workgroup meetings. Signed-off-by: RIFJo --- osi_sensorview.proto | 6 ++-- osi_sensorviewconfiguration.proto | 46 +++++++++++++++++++++++++++++++ 2 files changed, 50 insertions(+), 2 deletions(-) diff --git a/osi_sensorview.proto b/osi_sensorview.proto index a890261a7..9259d8bca 100644 --- a/osi_sensorview.proto +++ b/osi_sensorview.proto @@ -313,8 +313,10 @@ message CameraSensorView // Raw image data. // - // The raw image data in the memory layout and order specified by the - // camera sensor input configuration. + // The raw image data in the memory layout specified by the camera sensor + // input configuration. Default pixel order is left-to-right, top-to-bottom + ///(think of scan lines in a TV), but modifications can be + // requested/indicated in CameraSensorViewConfiguration.pixel_order. // optional bytes image_data = 2; } diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index e5c45c8f7..c765ccf41 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -729,6 +729,52 @@ message CameraSensorViewConfiguration // repeated WavelengthData wavelength_data = 11; + // Indicates if and how the the pixel data is ordered + // + // By default, the pixel data is is left-to-right, top-to-bottom. + // + // \note for rotations of the pixel data, use the camera coordinate system + // + optional PixelOrder pixel_order = 12; + + // Pixel layout + // + // Pixel layout documents the order of pixels in the \c image_data + // in CameraSensorView. + // + // \note this enum does not contain an entry to do mirroring upside down + // and left-to-right at the same time, because this is equivalent to a 180° + // rotation, which should be indicated in the sensor coordinate system + // + enum PixelOrder + { + // Pixel order is unknown (must not be used). + // + PIXEL_ORDER_UNKNOWN = 0; + + // Unspecified but unknown pixel order. + // Consider proposing an additional format if using + // \c #PIXEL_ORDER_OTHER. + // + PIXEL_ORDER_OTHER = 1; + + // Pixel data is not mirrored (Default). + // Pixels are ordered left-to-right, top-to-bottom + // + PIXEL_ORDER_DEFAULT = 2; + + // Pixel data is mirrored along the vertical axis. + // The image is mirrored left-to-right. + // + PIXEL_ORDER_MIRRORED_LEFT_RIGHT = 3; + + // Pixel data is mirrored along the horizontal axis. + // The image is mirrored top-to-bottom. + // + PIXEL_ORDER_MIRRORED_UP_DOWN = 4; + } + + // Channel format. // enum ChannelFormat From 912f9309c71e421e418a17663613d3f81d2b9ffa Mon Sep 17 00:00:00 2001 From: RIFJo Date: Mon, 19 Dec 2022 09:42:39 +0100 Subject: [PATCH 122/164] Documentation update after review replace non-ascii character, clarify PIXEL_ORDER_OTHER documentation Signed-off-by: RIFJo --- osi_sensorviewconfiguration.proto | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index c765ccf41..c612c9226 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -733,7 +733,7 @@ message CameraSensorViewConfiguration // // By default, the pixel data is is left-to-right, top-to-bottom. // - // \note for rotations of the pixel data, use the camera coordinate system + // \note for rotations of the pixel data, use the camera coordinate system. // optional PixelOrder pixel_order = 12; @@ -743,8 +743,9 @@ message CameraSensorViewConfiguration // in CameraSensorView. // // \note this enum does not contain an entry to do mirroring upside down - // and left-to-right at the same time, because this is equivalent to a 180° - // rotation, which should be indicated in the sensor coordinate system + // and left-to-right at the same time, because this is equivalent to a + // 180-degree rotation, which should be indicated in the sensor coordinate + // system. // enum PixelOrder { @@ -752,7 +753,7 @@ message CameraSensorViewConfiguration // PIXEL_ORDER_UNKNOWN = 0; - // Unspecified but unknown pixel order. + // Known pixel order that is not supported by OSI. // Consider proposing an additional format if using // \c #PIXEL_ORDER_OTHER. // From f63077f3d62627b4f2f78ec0b6b2a131571353a3 Mon Sep 17 00:00:00 2001 From: RIFJo Date: Mon, 19 Dec 2022 10:09:08 +0100 Subject: [PATCH 123/164] FIX documentation (triple-slash) remove triple-slash that causes python-test fail Signed-off-by: RIFJo --- osi_sensorview.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_sensorview.proto b/osi_sensorview.proto index 9259d8bca..8447a3c23 100644 --- a/osi_sensorview.proto +++ b/osi_sensorview.proto @@ -315,7 +315,7 @@ message CameraSensorView // // The raw image data in the memory layout specified by the camera sensor // input configuration. Default pixel order is left-to-right, top-to-bottom - ///(think of scan lines in a TV), but modifications can be + // (think of scan lines in a TV), but modifications can be // requested/indicated in CameraSensorViewConfiguration.pixel_order. // optional bytes image_data = 2; From 0819913843d1637ada5d658f224aa9b00380705d Mon Sep 17 00:00:00 2001 From: ClemensLinnhoff Date: Fri, 3 Mar 2023 11:50:37 +0100 Subject: [PATCH 124/164] Changed pixel order enum for explicit definition; adjusted documentation Signed-off-by: ClemensLinnhoff --- osi_sensorview.proto | 4 +--- osi_sensorviewconfiguration.proto | 30 +++++++++++++----------------- 2 files changed, 14 insertions(+), 20 deletions(-) diff --git a/osi_sensorview.proto b/osi_sensorview.proto index 8447a3c23..fcf28fb35 100644 --- a/osi_sensorview.proto +++ b/osi_sensorview.proto @@ -314,9 +314,7 @@ message CameraSensorView // Raw image data. // // The raw image data in the memory layout specified by the camera sensor - // input configuration. Default pixel order is left-to-right, top-to-bottom - // (think of scan lines in a TV), but modifications can be - // requested/indicated in CameraSensorViewConfiguration.pixel_order. + // input configuration. The pixel order is specified in CameraSensorViewConfiguration.pixel_order with the default value PIXEL_ORDER_LEFT_RIGHT_TOP_BOTTOM. // optional bytes image_data = 2; } diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index c612c9226..73d5c991c 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -731,9 +731,9 @@ message CameraSensorViewConfiguration // Indicates if and how the the pixel data is ordered // - // By default, the pixel data is is left-to-right, top-to-bottom. + // The default value is PIXEL_ORDER_LEFT_RIGHT_TOP_BOTTOM. // - // \note for rotations of the pixel data, use the camera coordinate system. + // \note For rotations of the pixel data, use the camera coordinate system. // optional PixelOrder pixel_order = 12; @@ -742,9 +742,8 @@ message CameraSensorViewConfiguration // Pixel layout documents the order of pixels in the \c image_data // in CameraSensorView. // - // \note this enum does not contain an entry to do mirroring upside down - // and left-to-right at the same time, because this is equivalent to a - // 180-degree rotation, which should be indicated in the sensor coordinate + // \note this enum does not contain an entry for right-to-left and bottom-to-top, because this is equivalent to a + // 180-degree rotation of the default, which should be indicated in the sensor coordinate // system. // enum PixelOrder @@ -759,20 +758,17 @@ message CameraSensorViewConfiguration // PIXEL_ORDER_OTHER = 1; - // Pixel data is not mirrored (Default). - // Pixels are ordered left-to-right, top-to-bottom + // Pixels are ordered left-to-right, top-to-bottom (default) // - PIXEL_ORDER_DEFAULT = 2; - - // Pixel data is mirrored along the vertical axis. - // The image is mirrored left-to-right. + PIXEL_ORDER_LEFT_RIGHT_TOP_BOTTOM = 2; + + // Pixels are ordered right-to-left, top-to-bottom // - PIXEL_ORDER_MIRRORED_LEFT_RIGHT = 3; - - // Pixel data is mirrored along the horizontal axis. - // The image is mirrored top-to-bottom. - // - PIXEL_ORDER_MIRRORED_UP_DOWN = 4; + PIXEL_ORDER_RIGHT_LEFT_TOP_BOTTOM = 3; + + // Pixels are ordered left-to-right, bottom-to-top + // + PIXEL_ORDER_LEFT_RIGHT_BOTTOM_TOP = 4; } From db690ddefd9020cd30791cf080ed4c3724d2f40e Mon Sep 17 00:00:00 2001 From: RIFJo Date: Wed, 8 Mar 2023 11:56:42 +0100 Subject: [PATCH 125/164] remove UNKNOWN field, put DEFAULT = 0 After discussion in the sensors modelling group, we concluded that UNKNOWN should not be used here, and DEFAULT should be the first field. Also: shorten the lines again, restore old documentation comments see also discussion on the enum guidelines: https://github.com/OpenSimulationInterface/osi-documentation/issues/68 Signed-off-by: RIFJo --- osi_sensorview.proto | 6 ++++-- osi_sensorviewconfiguration.proto | 26 ++++++++++++++------------ 2 files changed, 18 insertions(+), 14 deletions(-) diff --git a/osi_sensorview.proto b/osi_sensorview.proto index fcf28fb35..7ce3ce884 100644 --- a/osi_sensorview.proto +++ b/osi_sensorview.proto @@ -313,8 +313,10 @@ message CameraSensorView // Raw image data. // - // The raw image data in the memory layout specified by the camera sensor - // input configuration. The pixel order is specified in CameraSensorViewConfiguration.pixel_order with the default value PIXEL_ORDER_LEFT_RIGHT_TOP_BOTTOM. + // The raw image data in the memory layout specified by the camera + // sensor input configuration. The pixel order is specified in + // CameraSensorViewConfiguration.pixel_order with the + // default value PIXEL_ORDER_LEFT_RIGHT_TOP_BOTTOM. // optional bytes image_data = 2; } diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 73d5c991c..1516d85a3 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -742,32 +742,34 @@ message CameraSensorViewConfiguration // Pixel layout documents the order of pixels in the \c image_data // in CameraSensorView. // - // \note this enum does not contain an entry for right-to-left and bottom-to-top, because this is equivalent to a - // 180-degree rotation of the default, which should be indicated in the sensor coordinate + // \note this enum does not contain an entry to do mirroring upside down + // and left-to-right at the same time, because this is equivalent to a + // 180-degree rotation, which should be indicated in the sensor coordinate // system. // enum PixelOrder { - // Pixel order is unknown (must not be used). + // Pixel data is not mirrored (Default). + // Pixels are ordered left-to-right, top-to-bottom. // - PIXEL_ORDER_UNKNOWN = 0; + PIXEL_ORDER_DEFAULT = 0; // Known pixel order that is not supported by OSI. // Consider proposing an additional format if using // \c #PIXEL_ORDER_OTHER. // PIXEL_ORDER_OTHER = 1; - - // Pixels are ordered left-to-right, top-to-bottom (default) - // - PIXEL_ORDER_LEFT_RIGHT_TOP_BOTTOM = 2; - - // Pixels are ordered right-to-left, top-to-bottom + + // Pixels are ordered right-to-left, top-to-bottom. + // Pixel data is mirrored along the vertical axis. + // The image is mirrored left-to-right. // PIXEL_ORDER_RIGHT_LEFT_TOP_BOTTOM = 3; - // Pixels are ordered left-to-right, bottom-to-top - // + // Pixels are ordered left-to-right, bottom-to-top. + // Pixel data is mirrored along the horizontal axis. + // The image is mirrored top-to-bottom. + // PIXEL_ORDER_LEFT_RIGHT_BOTTOM_TOP = 4; } From 6f91e2d75c43dc13e0441607f228c66aff5090f7 Mon Sep 17 00:00:00 2001 From: RIFJo Date: Wed, 8 Mar 2023 13:06:02 +0100 Subject: [PATCH 126/164] fix documentation reference to default order, explain intended use Signed-off-by: RIFJo --- osi_sensorviewconfiguration.proto | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index 1516d85a3..e19b3db01 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -731,7 +731,9 @@ message CameraSensorViewConfiguration // Indicates if and how the the pixel data is ordered // - // The default value is PIXEL_ORDER_LEFT_RIGHT_TOP_BOTTOM. + // The default value (PIXEL_ORDER_DEFAULT) indicates standard image + // pixel order (left-to-right, top-to-bottom). The other values can + // be used to indicate/request mirroring (right to left or bottom to top). // // \note For rotations of the pixel data, use the camera coordinate system. // From a570f63615993c2cb52f13cd96da4303cf22d133 Mon Sep 17 00:00:00 2001 From: RIFJo Date: Wed, 8 Mar 2023 13:44:56 +0100 Subject: [PATCH 127/164] fix enum field indices do not skip index = 2 Signed-off-by: RIFJo --- osi_sensorviewconfiguration.proto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/osi_sensorviewconfiguration.proto b/osi_sensorviewconfiguration.proto index e19b3db01..fc3720ebc 100644 --- a/osi_sensorviewconfiguration.proto +++ b/osi_sensorviewconfiguration.proto @@ -766,13 +766,13 @@ message CameraSensorViewConfiguration // Pixel data is mirrored along the vertical axis. // The image is mirrored left-to-right. // - PIXEL_ORDER_RIGHT_LEFT_TOP_BOTTOM = 3; + PIXEL_ORDER_RIGHT_LEFT_TOP_BOTTOM = 2; // Pixels are ordered left-to-right, bottom-to-top. // Pixel data is mirrored along the horizontal axis. // The image is mirrored top-to-bottom. // - PIXEL_ORDER_LEFT_RIGHT_BOTTOM_TOP = 4; + PIXEL_ORDER_LEFT_RIGHT_BOTTOM_TOP = 3; } From a92e4ac1f1f4517d1fbb1b52b66ed613c813dc46 Mon Sep 17 00:00:00 2001 From: RIFJo Date: Fri, 17 Mar 2023 15:36:28 +0100 Subject: [PATCH 128/164] fix documentation - default-value Signed-off-by: RIFJo --- osi_sensorview.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_sensorview.proto b/osi_sensorview.proto index 7ce3ce884..1dd54c459 100644 --- a/osi_sensorview.proto +++ b/osi_sensorview.proto @@ -316,7 +316,7 @@ message CameraSensorView // The raw image data in the memory layout specified by the camera // sensor input configuration. The pixel order is specified in // CameraSensorViewConfiguration.pixel_order with the - // default value PIXEL_ORDER_LEFT_RIGHT_TOP_BOTTOM. + // default value PIXEL_ORDER_DEFAULT (i.e. left-to-right, top-to-bottom). // optional bytes image_data = 2; } From 6d1c557498db93ac95d41f80ea6f070cf040fd91 Mon Sep 17 00:00:00 2001 From: Philipp Rosenberger Date: Tue, 14 Mar 2023 11:10:36 +0100 Subject: [PATCH 129/164] Links in README and example moved to docu Signed-off-by: Philipp Rosenberger --- README.md | 78 ++----------------- doc/_config.adoc | 1 + doc/architecture/trace_file_example.adoc | 75 ++++++++++++++++++ doc/open-simulation-interface_user_guide.adoc | 2 + 4 files changed, 85 insertions(+), 71 deletions(-) create mode 100644 doc/architecture/trace_file_example.adoc diff --git a/README.md b/README.md index 3cf3b7b48..d75e337ba 100644 --- a/README.md +++ b/README.md @@ -7,82 +7,18 @@ The Open Simulation Interface [[1]](https://www.hot.ei.tum.de/forschung/aut As the complexity of automated driving functions rapidly increases, the requirements for test and development methods are growing. Testing in virtual environments offers the advantage of completely controlled and reproducible environment conditions. -For more information on OSI see the [official documentation](https://opensimulationinterface.github.io/osi-documentation/) or the [official reference documentation](https://opensimulationinterface.github.io/open-simulation-interface/) for defined protobuf messages. - - +For more information on OSI see the [official documentation]https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/specification/index.html) or the [class list](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/gen/annotated.html) for defined protobuf messages. [1] Hanke, T., Hirsenkorn, N., van-Driesten, C., Garcia-Ramos, P., Schiementz, M., Schneider, S. & Biebl, E. (2017, February 03). *A generic interface for the environment perception of automated driving functions in virtual scenarios.* Retrieved January 25, 2020, from https://www.hot.ei.tum.de/forschung/automotive-veroeffentlichungen/ ## Usage -##### Example of generating OSI messages in `Python` -```python -# generate_osi_messages.py -from osi3.osi_sensorview_pb2 import SensorView -import struct - -NANO_INCREMENT = 10000000 -MOVING_OBJECT_LENGTH = 5 -MOVING_OBJECT_WIDTH = 2 -MOVING_OBJECT_HEIGHT = 1 - -def main(): - """Initialize SensorView""" - f = open("sv_330_361_1000_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 = 5 - 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 = 42 - - # Generate 1000 OSI messages for a duration of 10 seconds - for i in range(1000): - - # Increment the time - if sv_ground_truth.timestamp.nanos > 1000000000: - sv_ground_truth.timestamp.seconds += 1 - sv_ground_truth.timestamp.nanos = 0 - sv_ground_truth.timestamp.nanos += NANO_INCREMENT - - moving_object.vehicle_classification.type = 2 - - moving_object.base.dimension.length = MOVING_OBJECT_LENGTH - moving_object.base.dimension.width = MOVING_OBJECT_WIDTH - moving_object.base.dimension.height = MOVING_OBJECT_HEIGHT - - moving_object.base.position.x += 0.5 - 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(" 1000000000: + sv_ground_truth.timestamp.seconds += 1 + sv_ground_truth.timestamp.nanos = 0 + sv_ground_truth.timestamp.nanos += NANO_INCREMENT + + moving_object.vehicle_classification.type = 2 + + moving_object.base.dimension.length = MOVING_OBJECT_LENGTH + moving_object.base.dimension.width = MOVING_OBJECT_WIDTH + moving_object.base.dimension.height = MOVING_OBJECT_HEIGHT + + moving_object.base.position.x += 0.5 + 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(" Date: Tue, 14 Mar 2023 12:23:27 +0100 Subject: [PATCH 130/164] Correct source highlighting, md links to adoc links Signed-off-by: Philip Windecker --- README.md | 2 +- doc/architecture/trace_file_example.adoc | 9 ++++++--- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index d75e337ba..26464592e 100644 --- a/README.md +++ b/README.md @@ -7,7 +7,7 @@ The Open Simulation Interface [[1]](https://www.hot.ei.tum.de/forschung/aut As the complexity of automated driving functions rapidly increases, the requirements for test and development methods are growing. Testing in virtual environments offers the advantage of completely controlled and reproducible environment conditions. -For more information on OSI see the [official documentation]https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/specification/index.html) or the [class list](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/gen/annotated.html) for defined protobuf messages. +For more information on OSI see the [official documentation](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/specification/index.html) or the [class list](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/gen/annotated.html) for defined protobuf messages. [1] Hanke, T., Hirsenkorn, N., van-Driesten, C., Garcia-Ramos, P., Schiementz, M., Schneider, S. & Biebl, E. (2017, February 03). *A generic interface for the environment perception of automated driving functions in virtual scenarios.* Retrieved January 25, 2020, from https://www.hot.ei.tum.de/forschung/automotive-veroeffentlichungen/ diff --git a/doc/architecture/trace_file_example.adoc b/doc/architecture/trace_file_example.adoc index 8142e90bd..9de8dd43b 100644 --- a/doc/architecture/trace_file_example.adoc +++ b/doc/architecture/trace_file_example.adoc @@ -4,7 +4,8 @@ include::{root-path}_config.adoc[] endif::[] [#top-osi_trace_file_example] = OSI trace file example -[source,ruby] + +[source, python] ---- # generate_osi_messages.py from osi3.osi_sensorview_pb2 import SensorView @@ -66,10 +67,12 @@ if __name__ == "__main__": ---- To run the script execute the following command in the terminal: + +[source, bash] ---- python3 generate_osi_messages.py ---- -This will output an osi file (`sv_330_361_1000_movingobject.osi`) which can be visualized and played back by the [osi-visualizer](https://github.com/OpenSimulationInterface/osi-visualizer). +This will output an osi file (`sv_330_361_1000_movingobject.osi`) which can be visualized and played back by the https://github.com/OpenSimulationInterface/osi-visualizer[osi-visualizer^]. -See Google's documentation for more tutorials on how to use protocol buffers with [Python](https://developers.google.com/protocol-buffers/docs/pythontutorial) or [C++](https://developers.google.com/protocol-buffers/docs/cpptutorial). \ No newline at end of file +See Google's documentation for more tutorials on how to use protocol buffers with https://developers.google.com/protocol-buffers/docs/pythontutorial[Python^] or https://developers.google.com/protocol-buffers/docs/cpptutorial[C++^]. \ No newline at end of file From 6ab8c1d056d5e165e724b86caba310a9de10ca7d Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Mon, 20 Mar 2023 11:52:29 +0100 Subject: [PATCH 131/164] Fix sensordata reference frame definitions - Remove incorrect parent frame definition for detected moving object - Clarify definition of parent frame for all sensordata objects Signed-off-by: Thomas Sedlmayer --- osi_detectedlane.proto | 9 +++++++++ osi_detectedobject.proto | 27 +++++++++++++++++++++------ osi_detectedroadmarking.proto | 9 +++++++++ osi_detectedtrafficlight.proto | 9 +++++++++ osi_detectedtrafficsign.proto | 12 ++++++++++++ 5 files changed, 60 insertions(+), 6 deletions(-) diff --git a/osi_detectedlane.proto b/osi_detectedlane.proto index 6c8159d18..ecdae1053 100644 --- a/osi_detectedlane.proto +++ b/osi_detectedlane.proto @@ -54,6 +54,15 @@ message DetectedLane // // \image html OSI_DetectedLaneBoundary.svg // +// The parent frame of a detected lane boundary is the virtual sensor coordinate +// system. +// +// The virtual sensor coordinate system is relative to the vehicle coordinate +// system which has its origin in the center of the rear axle of the ego +// vehicle. This means if virtual sensor mounting position and orientation are +// set to (0,0,0) the virtual sensor coordinate system coincides with the +// vehicle coordinate system. +// message DetectedLaneBoundary { // Common information of one detected item. diff --git a/osi_detectedobject.proto b/osi_detectedobject.proto index 2e417a2e0..f4f2e97fe 100644 --- a/osi_detectedobject.proto +++ b/osi_detectedobject.proto @@ -93,6 +93,15 @@ message DetectedItemHeader // // \image html OSI_DetectedStationaryObject.svg // +// The parent frame of a detected stationary object is the virtual sensor +// coordinate system. +// +// The virtual sensor coordinate system is relative to the vehicle coordinate +// system which has its origin in the center of the rear axle of the ego +// vehicle. This means if virtual sensor mounting position and orientation are +// set to (0,0,0) the virtual sensor coordinate system coincides with the +// vehicle coordinate system. +// message DetectedStationaryObject { // Common information of one detected item. @@ -172,8 +181,17 @@ message DetectedStationaryObject } // -// \brief Moving object in the environment as detected and perceived by -// the sensor. +// \brief Moving object in the environment as detected and perceived by the +// sensor. +// +// The parent frame of a detected moving object is the virtual sensor coordinate +// system. +// +// The virtual sensor coordinate system is relative to the vehicle coordinate +// system which has its origin in the center of the rear axle of the ego +// vehicle. This means if virtual sensor mounting position and orientation are +// set to (0,0,0) the virtual sensor coordinate system coincides with the +// vehicle coordinate system. // message DetectedMovingObject { @@ -183,8 +201,7 @@ message DetectedMovingObject // The base parameters of the moving object. // - // \note The bounding box does NOT includes mirrors for vehicles. - // \note The parent frame of \c base is the sensor's vehicle frame. + // \note The bounding box does NOT include mirrors for vehicles. // \note The height includes the ground_clearance. It always goes from the // top to the ground. // @@ -194,8 +211,6 @@ message DetectedMovingObject // moving object (e.g. car). \c MovingObject::base has to be // identical for all \c #candidate moving objects. // - // \note The parent frame of \c base is the sensor's vehicle frame. - // optional BaseMoving base_rmse = 3; // Reference point location specification of the sensor measurement diff --git a/osi_detectedroadmarking.proto b/osi_detectedroadmarking.proto index cb72f39b5..1a3336954 100644 --- a/osi_detectedroadmarking.proto +++ b/osi_detectedroadmarking.proto @@ -20,6 +20,15 @@ package osi3; // RoadMarking::Classification::type == \c // RoadMarking::Classification::TYPE_SYMBOLIC_TRAFFIC_SIGN is not marked. // +// The parent frame of a detected road marking is the virtual sensor coordinate +// system. +// +// The virtual sensor coordinate system is relative to the vehicle coordinate +// system which has its origin in the center of the rear axle of the ego +// vehicle. This means if virtual sensor mounting position and orientation are +// set to (0,0,0) the virtual sensor coordinate system coincides with the +// vehicle coordinate system. +// message DetectedRoadMarking { // Common information of one detected item. diff --git a/osi_detectedtrafficlight.proto b/osi_detectedtrafficlight.proto index f8edb3530..0cb38410a 100644 --- a/osi_detectedtrafficlight.proto +++ b/osi_detectedtrafficlight.proto @@ -13,6 +13,15 @@ package osi3; // // \image html OSI_DetectedTrafficLight.svg // +// The parent frame of a detected traffic light is the virtual sensor coordinate +// system. +// +// The virtual sensor coordinate system is relative to the vehicle coordinate +// system which has its origin in the center of the rear axle of the ego +// vehicle. This means if virtual sensor mounting position and orientation are +// set to (0,0,0) the virtual sensor coordinate system coincides with the +// vehicle coordinate system. +// // One detected traffic light message defines a single 'bulb' and not a box of // several bulbs, e.g. red, yellow, green are three separate detected traffic // lights. diff --git a/osi_detectedtrafficsign.proto b/osi_detectedtrafficsign.proto index 1183536f2..d1d35eda1 100644 --- a/osi_detectedtrafficsign.proto +++ b/osi_detectedtrafficsign.proto @@ -13,6 +13,15 @@ package osi3; // // \image html OSI_DetectedSign.svg // +// The parent frame of a detected traffic sign is the virtual sensor coordinate +// system. +// +// The virtual sensor coordinate system is relative to the vehicle coordinate +// system which has its origin in the center of the rear axle of the ego +// vehicle. This means if virtual sensoqr mounting position and orientation are +// set to (0,0,0) the virtual sensor coordinate system coincides with the +// vehicle coordinate system. +// message DetectedTrafficSign { // Common information of one detected item. @@ -45,11 +54,14 @@ message DetectedTrafficSign // // The orientation of the bounding box \c #base // ( \c BaseStationary::orientation ) is defined as follows: + // // The z-axis of the given \c BaseStationary::orientation is the vector // from the bottom to the top of the traffic sign's 2D image plate. // (Normally it is equal to the ground truth z-axis.) + // // The x-axis of the given \c BaseStationary::orientation is view // normal of the traffic sign's image. + // // This x-axis points from the traffic sign's image in the direction // from where a 'viewer' could see the traffic sign image. // From e28241f577a6c31b07ab04ec41914e04f7654e1c Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Tue, 21 Mar 2023 12:38:04 +0100 Subject: [PATCH 132/164] Fix typo Signed-off-by: Thomas Sedlmayer --- osi_detectedtrafficsign.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osi_detectedtrafficsign.proto b/osi_detectedtrafficsign.proto index d1d35eda1..d4f3ccbd0 100644 --- a/osi_detectedtrafficsign.proto +++ b/osi_detectedtrafficsign.proto @@ -18,7 +18,7 @@ package osi3; // // The virtual sensor coordinate system is relative to the vehicle coordinate // system which has its origin in the center of the rear axle of the ego -// vehicle. This means if virtual sensoqr mounting position and orientation are +// vehicle. This means if virtual sensor mounting position and orientation are // set to (0,0,0) the virtual sensor coordinate system coincides with the // vehicle coordinate system. // From 3424a29f6f6af1a56dbbbba2dcc898628810cb0e Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Fri, 24 Mar 2023 14:00:54 +0100 Subject: [PATCH 133/164] Align mounting position definitions - Add keyword "physical" for mounting position in SensorDetectionHeader - Remove outdated reference to vehicle reference point - Rephrase reference frame definition for virtual mounting position Signed-off-by: Thomas Sedlmayer --- osi_featuredata.proto | 7 +++---- osi_sensorview.proto | 20 +++++++++++--------- 2 files changed, 14 insertions(+), 13 deletions(-) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index f5d49993f..062370d56 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -70,10 +70,9 @@ message SensorDetectionHeader // optional uint64 cycle_counter = 2; - // Mounting position of the sensor (origin and orientation of the sensor - // frame). Both origin and orientation are given in and with respect to the - // host vehicle coordinate system (see: \c MovingObject::Vehicle vehicle - // reference point) [1]. + // The physical mounting position of the sensor (origin and orientation of + // the sensor frame). Both origin and orientation are given in and with + // respect to the host vehicle coordinate system [1]. // // The sensor frame's x-axis is pointing in the central viewing direction of // the sensor. It is the angle bisector of the sensor's horizontal and diff --git a/osi_sensorview.proto b/osi_sensorview.proto index 1dd54c459..8d595ed92 100644 --- a/osi_sensorview.proto +++ b/osi_sensorview.proto @@ -62,15 +62,17 @@ message SensorView // optional Identifier sensor_id = 3; - // The virtual mounting position of the sensor (origin and orientation - // of the sensor coordinate system) given in vehicle coordinates [1]. - // The virtual position pertains to the sensor as a whole, regardless - // of the actual position of individual physical detectors, and governs - // the sensor-relative coordinates in detected objects of the sensor - // as a whole. Individual features detected by individual physical - // detectors are governed by the actual physical mounting positions - // of the detectors, as indicated in the technology-specific sub-views - // and sub-view configurations. + // The virtual mounting position of the sensor (origin and orientation of + // the sensor frame). Both origin and orientation are given in and with + // respect to the host vehicle coordinate system [1]. + // + // The virtual position pertains to the sensor as a whole, regardless of the + // actual position of individual physical detectors, and governs the + // sensor-relative coordinates in detected objects of the sensor as a whole. + // Individual features detected by individual physical detectors are + // governed by the actual physical mounting positions of the detectors, as + // indicated in the technology-specific sub-views and sub-view + // configurations. // // \arg \b x-direction of sensor coordinate system: sensor viewing direction // \arg \b z-direction of sensor coordinate system: sensor (up) From 6b47614fec8602cffb951d7230d3a2ac36de212c Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Mon, 24 Apr 2023 12:59:27 +0200 Subject: [PATCH 134/164] Fix reference frame of logical detection Signed-off-by: Thomas Sedlmayer --- osi_logicaldetectiondata.proto | 20 ++++++++++++++------ 1 file changed, 14 insertions(+), 6 deletions(-) diff --git a/osi_logicaldetectiondata.proto b/osi_logicaldetectiondata.proto index bb85cb5b2..a211044cb 100644 --- a/osi_logicaldetectiondata.proto +++ b/osi_logicaldetectiondata.proto @@ -25,9 +25,17 @@ message LogicalDetectionData // optional LogicalDetectionDataHeader header = 2; - // logical detections consisting of transformed (and potentially fused) detections from one or multiple sensors and sensor types. - // Logical detections are given with respect to the reference frame of the logical/virtual sensor - // \c SensorView::mounting_position (e.g. center of rear axle of the ego car) + // Logical detections consisting of transformed (and potentially fused) + // detections from one or multiple sensors and sensor types. + // + // The parent frame of a logical detection is the virtual sensor coordinate + // system specified by \c SensorView::mounting_position . + // + // The virtual sensor coordinate system is relative to the vehicle + // coordinate system which has its origin in the center of the rear axle of + // the ego vehicle. This means if virtual sensor mounting position and + // orientation are set to (0,0,0) the virtual sensor coordinate system + // coincides with the vehicle coordinate system. // repeated LogicalDetection logical_detection = 3; } @@ -131,8 +139,8 @@ message LogicalDetection // optional Identifier object_id = 2; - // Measured position of the logical detection given in cartesian coordinates in the - // host vehicle coordinate system. + // Measured position of the logical detection given in cartesian coordinates + // in the virtual sensor coordinate system. // // Unit: m // @@ -143,7 +151,7 @@ message LogicalDetection optional Vector3d position_rmse = 4; // Velocity of the logical detection given in cartesian coordinates in the - // host vehicle coordinate system. + // virtual sensor coordinate system. // // Unit: m/s // From 8fb64c1b8d45432748cb9bd31952d81b5fb21e3c Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Thu, 11 May 2023 09:48:38 +0200 Subject: [PATCH 135/164] Add note tags to coordinate system descriptions Signed-off-by: Thomas Sedlmayer --- osi_detectedlane.proto | 2 +- osi_detectedobject.proto | 4 ++-- osi_detectedroadmarking.proto | 2 +- osi_detectedtrafficlight.proto | 10 +++++----- osi_detectedtrafficsign.proto | 2 +- osi_logicaldetectiondata.proto | 2 +- 6 files changed, 11 insertions(+), 11 deletions(-) diff --git a/osi_detectedlane.proto b/osi_detectedlane.proto index ecdae1053..ad3310fd4 100644 --- a/osi_detectedlane.proto +++ b/osi_detectedlane.proto @@ -57,7 +57,7 @@ message DetectedLane // The parent frame of a detected lane boundary is the virtual sensor coordinate // system. // -// The virtual sensor coordinate system is relative to the vehicle coordinate +// /note The virtual sensor coordinate system is relative to the vehicle coordinate // system which has its origin in the center of the rear axle of the ego // vehicle. This means if virtual sensor mounting position and orientation are // set to (0,0,0) the virtual sensor coordinate system coincides with the diff --git a/osi_detectedobject.proto b/osi_detectedobject.proto index f4f2e97fe..d651b949e 100644 --- a/osi_detectedobject.proto +++ b/osi_detectedobject.proto @@ -96,7 +96,7 @@ message DetectedItemHeader // The parent frame of a detected stationary object is the virtual sensor // coordinate system. // -// The virtual sensor coordinate system is relative to the vehicle coordinate +// /note The virtual sensor coordinate system is relative to the vehicle coordinate // system which has its origin in the center of the rear axle of the ego // vehicle. This means if virtual sensor mounting position and orientation are // set to (0,0,0) the virtual sensor coordinate system coincides with the @@ -187,7 +187,7 @@ message DetectedStationaryObject // The parent frame of a detected moving object is the virtual sensor coordinate // system. // -// The virtual sensor coordinate system is relative to the vehicle coordinate +// /note The virtual sensor coordinate system is relative to the vehicle coordinate // system which has its origin in the center of the rear axle of the ego // vehicle. This means if virtual sensor mounting position and orientation are // set to (0,0,0) the virtual sensor coordinate system coincides with the diff --git a/osi_detectedroadmarking.proto b/osi_detectedroadmarking.proto index 1a3336954..481e33d9c 100644 --- a/osi_detectedroadmarking.proto +++ b/osi_detectedroadmarking.proto @@ -23,7 +23,7 @@ package osi3; // The parent frame of a detected road marking is the virtual sensor coordinate // system. // -// The virtual sensor coordinate system is relative to the vehicle coordinate +// /note The virtual sensor coordinate system is relative to the vehicle coordinate // system which has its origin in the center of the rear axle of the ego // vehicle. This means if virtual sensor mounting position and orientation are // set to (0,0,0) the virtual sensor coordinate system coincides with the diff --git a/osi_detectedtrafficlight.proto b/osi_detectedtrafficlight.proto index 0cb38410a..0c7878f17 100644 --- a/osi_detectedtrafficlight.proto +++ b/osi_detectedtrafficlight.proto @@ -13,19 +13,19 @@ package osi3; // // \image html OSI_DetectedTrafficLight.svg // +// One detected traffic light message defines a single 'bulb' and not a box of +// several bulbs, e.g. red, yellow, green are three separate detected traffic +// lights. +// // The parent frame of a detected traffic light is the virtual sensor coordinate // system. // -// The virtual sensor coordinate system is relative to the vehicle coordinate +// /note The virtual sensor coordinate system is relative to the vehicle coordinate // system which has its origin in the center of the rear axle of the ego // vehicle. This means if virtual sensor mounting position and orientation are // set to (0,0,0) the virtual sensor coordinate system coincides with the // vehicle coordinate system. // -// One detected traffic light message defines a single 'bulb' and not a box of -// several bulbs, e.g. red, yellow, green are three separate detected traffic -// lights. -// message DetectedTrafficLight { // Common information of one detected item. diff --git a/osi_detectedtrafficsign.proto b/osi_detectedtrafficsign.proto index d4f3ccbd0..344c20250 100644 --- a/osi_detectedtrafficsign.proto +++ b/osi_detectedtrafficsign.proto @@ -16,7 +16,7 @@ package osi3; // The parent frame of a detected traffic sign is the virtual sensor coordinate // system. // -// The virtual sensor coordinate system is relative to the vehicle coordinate +// \note The virtual sensor coordinate system is relative to the vehicle coordinate // system which has its origin in the center of the rear axle of the ego // vehicle. This means if virtual sensor mounting position and orientation are // set to (0,0,0) the virtual sensor coordinate system coincides with the diff --git a/osi_logicaldetectiondata.proto b/osi_logicaldetectiondata.proto index a211044cb..cbf0e71fe 100644 --- a/osi_logicaldetectiondata.proto +++ b/osi_logicaldetectiondata.proto @@ -31,7 +31,7 @@ message LogicalDetectionData // The parent frame of a logical detection is the virtual sensor coordinate // system specified by \c SensorView::mounting_position . // - // The virtual sensor coordinate system is relative to the vehicle + // /note The virtual sensor coordinate system is relative to the vehicle // coordinate system which has its origin in the center of the rear axle of // the ego vehicle. This means if virtual sensor mounting position and // orientation are set to (0,0,0) the virtual sensor coordinate system From f7b655ba47424e0d061f19044ca6821aca214418 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Fri, 24 Mar 2023 14:14:33 +0100 Subject: [PATCH 136/164] Fix MovingObject description and image size Signed-off-by: Thomas Sedlmayer --- doc/images/OSI_MovingObject.svg | 4 ++-- osi_object.proto | 5 +++-- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/doc/images/OSI_MovingObject.svg b/doc/images/OSI_MovingObject.svg index d5cc8c1a3..1e651197a 100644 --- a/doc/images/OSI_MovingObject.svg +++ b/doc/images/OSI_MovingObject.svg @@ -8,8 +8,8 @@ xmlns="http://www.w3.org/2000/svg" xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" - width="100%" - height="100%" + width="960" + height="540" viewBox="0 0 960 540" version="1.1" xml:space="preserve" diff --git a/osi_object.proto b/osi_object.proto index d49e86a09..94065881b 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -378,8 +378,9 @@ message StationaryObject // // \image html OSI_HostVehicle.svg // -// \note The field \c MovingObject::vehicle_extension has to be -// filled if the \c MovingObject::Type is a vehicle. +// \note The fields \c MovingObject::vehicle_attributes and \c +// MovingObject::vehicle_classification have to be filled if the \c +// MovingObject::Type is set to #TYPE_VEHICLE. // message MovingObject { From 34940017a7f9da65d7a09756d5113ed76f43ee64 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Fri, 24 Mar 2023 14:24:18 +0100 Subject: [PATCH 137/164] Fix parts of coordinate system documentation - Add definition of host vehicle coordinate system - Fix multiple bugs in coordinate transformation chapter - Replace example figure that shows wrong phys. mounting pos. reference Signed-off-by: Thomas Sedlmayer --- .../reference_points_coordinate_systems.adoc | 6 +- doc/images/osi_example_coordinate_systems.png | Bin 172034 -> 0 bytes doc/images/osi_example_coordinate_systems.svg | 6754 ----------------- .../transforming_coordinate_systems.adoc | 20 +- 4 files changed, 15 insertions(+), 6765 deletions(-) delete mode 100644 doc/images/osi_example_coordinate_systems.png delete mode 100644 doc/images/osi_example_coordinate_systems.svg diff --git a/doc/architecture/reference_points_coordinate_systems.adoc b/doc/architecture/reference_points_coordinate_systems.adoc index 4e845281a..4c6ea7343 100644 --- a/doc/architecture/reference_points_coordinate_systems.adoc +++ b/doc/architecture/reference_points_coordinate_systems.adoc @@ -5,7 +5,7 @@ endif::[] = Coordinate systems, reference points and coordinate transformation OSI uses DIN ISO 8855:2013-11 cite:[iso8855] for coordinate systems and transformations between coordinate systems. -OSI uses three coordinate systems: +OSI uses the following coordinate systems: Global coordinate system:: Coordinate system for all entities that are part of ground truth. @@ -14,9 +14,13 @@ The origin is the global reference point that is determined by the environment s 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`. +Host vehicle coordinate system:: +The host vehicle coordinate system's origin is defined to be at the center of the rear axle of the host vehicle. + 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. +Both physical and virtual sensor coordinate systems are relative to the host vehicle coordinate system. Object coordinate system:: Local object coordinate system. diff --git a/doc/images/osi_example_coordinate_systems.png b/doc/images/osi_example_coordinate_systems.png deleted file mode 100644 index 902cfb21cb1a5e0bc1be717201e56eda1471bf0a..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 172034 zcmZTw1yodB*PfueyBWGgU?f$#WdK21LX;dOm72jXU-(-RBJiEj z9gb4)4=GybnhylROndqZ?H1ft1K(uz)wJ|A^}gX7aQ%)8Bp@I_@|KsokJELui=_7* z*R(ZdHVA|VqN{PqEHHg#Dj+f4W&dO|K>kfU!DTuU&dV{wJev0-wFnM13q?uZ!XoW2 z0+(}ycVf(BFdL7<9cZ5N^a@8-V4;NS>ne#fJfyr2emIAP*))Do-d+(LU-|ypHDIR9 z=MMgZs?zrO`1rwxX9o>s-!z<9>G1yd`oiAwCzrv?2bYSt*RTKoi(fTA$qF0%&z-<^hQq~ko`8R=8*U6A zjmDn6JwZV(a(b5%N$sG2MR)T#yOLw|_pK`ay;UXuZ=pK=70O*}Dr^+0m_xz$?>;2j z{{7FZW`0fP7Z%+-|J@&M817Wp~qGO20h5ivPJJ=hOKo!s&rg9+%oK;|1~b zi&?rQdX(jfdk6b^|8w1qBB&~S5+*KaZMI2)K6m@89cng@K1_DTh*RUwa>I9sp!v|U zClUpgkVkOUOvzNUPniP8SNnAT=c+9?Oh2p+s^7_Eu1uIt^20F6s7N&-vL)^nia7qa z_=u8g%WzkiX(y9eFvNy>B~$#FnaUc^v1DknV&tEz3R&cUV;}=SRcbQE!B5~nbd!wq 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Date: Mon, 22 May 2023 08:46:41 +0200 Subject: [PATCH 158/164] Restructure Pedestrian Data to Pedestrian Attributes Based on the discussions in the workgroup, Pedestrian Data was reformatted to Pedestrian Attributes. Signed-off-by: Jakob Peintner Signed-off-by: Pierre R. Mai --- osi_object.proto | 212 +++++++++++++++++++++++++++++++++++++++-------- 1 file changed, 176 insertions(+), 36 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index b6257c6a7..e23edc1f7 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -519,59 +519,199 @@ message MovingObject // This is an extension to the \c MovingObject with additional information // describing a pedestrian in more detail. // - message PedestrianData { + message PedestrianAttributes { - // Body height of the pedestrian - // - // Unit: m - // - optional double height = 1; // List of all skeleton points of the pedestrian // - // The number of skeleton points may very, based on the detail level of + // The number of skeleton points may vary, based on the detail level of // the pedestrian model used. For example, some simulators will not include // detailed data of the fingers or eyes of the pedestrian. // repeated SkeletonPoint skeleton_data = 2; - } + + // \brief Points in the skeleton of the pedestrian + // + // Each point represents a joint, or otherwise important point in the skeleton + // of a pedestrian. For example pelvis, knee or shoulder. The naming convention + // should be followed for identifying skeleton points. + // + message SkeletonPoint { - // - // \brief Points in the skeleton of the pedestrian - // - // Each point represents a joint, or otherwise important point in the skeleton - // of a pedestrian. For example Pelvis, Knee or Shoulder. The naming convention - // should be followed for identifying skeleton points. - // - message SkeletonPoint { + // Skeleton points are identified by their type, combined with which body side + // they are on. + // + // To properly identify the skeleton points the pre-defined naming convention + // must be used. + // + //\image html OSI_SkeletonNamingConvention.jpg + // + // If a skeleton point is used, which is more than one layer detached from the + // root point, all sekleton points between that point and the root point also + // need to be defined in order to create a complete chain! + // + optional Type type = 1; + + // The side of the body on which the Skeleton Point is located at. + // + // Skeleton Points can either be on the left or right side of the body. The spine, + // neck, and head are located in the middle. + // + optional Side side = 2; - // Skeleton points are identified by a naming scheme - // - // To properly identify the skeleton points the pre-defined naming convention - // must be used. - // - //\image html OSI_SkeletonNamingConvention.jpg - // - required string identifier = 1; + // If there are multiple Skeleton Points of the same type, they are additionally + // identified by their number. + // + // In case of the spine, head, jaw, fingers, and toes there can be multiple + // Skeleton Points in these bodyparts, depending on the desired level of detail. + // Smaller numbers are located closer to the root/previous Skeleton Point. + // + optional uint32 number = 3; - // Position of the skeleton point - // - // Reference System is the middle of the bounding box (\c MovingObject::base - // \c BaseMoving::position). - // - required Vector3d position = 2; + // Position of the skeleton point + // + // Reference System is the middle of the bounding box (\c MovingObject::base + // \c BaseMoving::position). + // + optional Vector3d position = 4; - // Orientation of the skeleton point - // - // Reference System is the middle of the bounding box (\c MovingObject::base - // \c BaseMoving::orientation). - // - required Orientation3d orientation = 3; + // Orientation of the skeleton point + // + // Reference System is the middle of the bounding box (\c MovingObject::base + // \c BaseMoving::orientation). + // + optional Orientation3d orientation = 5; + + // The type of the skeleton point + // + // \note Skeleton Points of each type can be assigned, or left empty depending + // on the desired level of detail, or present data. However, if a Skeleton Point + // is defined, all Skeleton Points in the chain from that point back to the root + // point must be defined to create a complete chain. + // + enum Type { + + // Root point is usually located in the COM + // + TYPE_ROOT = 0; + + // Skeleton Point is located in the hip. + // + TYPE_HIP = 1; + + // Skeleton Points defines part of the spine. + // + // \note skeleton usually contains more than one spine point. + // + TYPE_SPINE = 2; + // Skeleton Point defines the neck. + // + TYPE_NECK = 3; + + // Skeleton Point defines the head. + // + TYPE_HEAD = 4; + + // Skeleton Point defines one of the eyes. + // + TYPE_EYE = 5; + + // Skeleton Point defines the jaw. + // + TYPE_JAW = 6; + + // Skeleton Point defines one of the shoulders. + // + TYPE_SHOULDER = 7; + + // Skeleton Point defines one of the upper arms. + // + TYPE_UPPER_ARM = 8; + + // Skeleton Point defines one of the forearms. + // + TYPE_FORE_ARM = 9; + + // Skeleton Point defines one of the hands. + // + TYPE_HAND = 10; + + // Skeleton Point defines one of the thumbs. + // + // \note Fingers usually contain three skeleton points (start, middle, end) + // + TYPE_FINGER_THUMB = 11; + + // Skeleton Point defines one of the index fingers. + // + // \note Fingers usually contain three skeleton points (start, middle, end) + // + TYPE_FINGER_INDEX = 12; + + // Skeleton Point defines one of the middle fingers. + // + // \note Fingers usually contain three skeleton points (start, middle, end) + // + TYPE_FINGER_MIDDLE = 13; + + // Skeleton Point defines one of the ring fingers. + // + // \note Fingers usually contain three skeleton points (start, middle, end) + // + TYPE_FINGER_RING = 14; + + // Skeleton Point defines one of the pinky fingers. + // + // \note Fingers usually contain three skeleton points (start, middle, end) + // + TYPE_FINGER_PINKY = 15; + + // Skeleton Point defines one of the thighs. + // + TYPE_THIGH = 16; + + // Skeleton Point defines one of the shins. + // + TYPE_SHIN = 17; + + // Skeleton Point defines one of the feet. + // + TYPE_FOOT = 18; + + // Skeleton Point defines one of the toes. + // + // \note Toes usually contain two skeleton points for start and end. + // + TYPE_TOES = 19; + + } + + // Defines on which side of the body the Skeleton Point is located at. + // + enum Side { + + // Left body side. + // + SIDE_LEFT = 0; + + // Right body side. + // + SIDE_RIGHT = 1; + + // For root, spine, neck, head and jaw, middle is used for side. + // + SIDE_MIDDLE = 2; + } + + } } + + + // // \brief The vehicle attributes for \c MovingObject (host or other). // From bbf253da4f19312dc525b12139ff501e62961051 Mon Sep 17 00:00:00 2001 From: Jakob Peintner Date: Fri, 16 Jun 2023 17:14:32 +0200 Subject: [PATCH 159/164] Changes based on discussions in the work group 1) Skeleton structure was simplified (omitting fingers, eyes, and jaw); FULL_HAND introduced instead; 2) Coordinate reference was redefined with bbcenter_to_root; 3) Skeleton Point was renamed to Bone for clarity; 4) Length attribute added to the bone; Signed-off-by: Jakob Peintner --- doc/images/OSI_SkeletonNamingConvention.jpg | Bin 236786 -> 0 bytes doc/images/OSI_SkeletonNamingConvention.svg | 1 + osi_object.proto | 385 ++++++++++---------- 3 files changed, 189 insertions(+), 197 deletions(-) delete mode 100644 doc/images/OSI_SkeletonNamingConvention.jpg create mode 100644 doc/images/OSI_SkeletonNamingConvention.svg diff --git a/doc/images/OSI_SkeletonNamingConvention.jpg b/doc/images/OSI_SkeletonNamingConvention.jpg deleted file mode 100644 index 53bb223c0a13af01399fea668c50cd28bc8de4af..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 236786 zcmeFZbyQVb8#RukAP9nVctk?Fqz)~ugo1P*y1P46knRQr1d;9r5d>-J2BoAyy7|_* z_r32Gd4JMLsY-eAFiv09w-6ci z<}VN4UWGY&-ri?(0vO4yE?lil2p>#sYN8ksOyckNJ)AQX!BS^wWu|O=hU`Ow1iL&t zLlkUX!I=~xWoxzbG-|_!s(BA~6Adlcm7$i{F}=wkV2pXQTdjD}=Wwt$ z5A;7rGXHVQPc+87Jq=w<8l65Bd+zgFmqpDK%HCk5@p%HjdRAWR8zpt+4@Ec$<(UIW 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a/osi_object.proto b/osi_object.proto index e23edc1f7..e7a5dd866 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -513,205 +513,17 @@ message MovingObject // optional ColorDescription color_description = 11; + // Specific information about the pedestrian. // - // \brief Additional pedestrian data in case the moving object is a human. + // \note This field is mandatory if the \c #type is + // #TYPE_PEDESTRIAN. // - // This is an extension to the \c MovingObject with additional information - // describing a pedestrian in more detail. - // - message PedestrianAttributes { - - - // List of all skeleton points of the pedestrian - // - // The number of skeleton points may vary, based on the detail level of - // the pedestrian model used. For example, some simulators will not include - // detailed data of the fingers or eyes of the pedestrian. - // - repeated SkeletonPoint skeleton_data = 2; - - - // \brief Points in the skeleton of the pedestrian - // - // Each point represents a joint, or otherwise important point in the skeleton - // of a pedestrian. For example pelvis, knee or shoulder. The naming convention - // should be followed for identifying skeleton points. - // - message SkeletonPoint { - - - // Skeleton points are identified by their type, combined with which body side - // they are on. - // - // To properly identify the skeleton points the pre-defined naming convention - // must be used. - // - //\image html OSI_SkeletonNamingConvention.jpg - // - // If a skeleton point is used, which is more than one layer detached from the - // root point, all sekleton points between that point and the root point also - // need to be defined in order to create a complete chain! - // - optional Type type = 1; - - // The side of the body on which the Skeleton Point is located at. - // - // Skeleton Points can either be on the left or right side of the body. The spine, - // neck, and head are located in the middle. - // - optional Side side = 2; - - // If there are multiple Skeleton Points of the same type, they are additionally - // identified by their number. - // - // In case of the spine, head, jaw, fingers, and toes there can be multiple - // Skeleton Points in these bodyparts, depending on the desired level of detail. - // Smaller numbers are located closer to the root/previous Skeleton Point. - // - optional uint32 number = 3; - - // Position of the skeleton point - // - // Reference System is the middle of the bounding box (\c MovingObject::base - // \c BaseMoving::position). - // - optional Vector3d position = 4; - - // Orientation of the skeleton point - // - // Reference System is the middle of the bounding box (\c MovingObject::base - // \c BaseMoving::orientation). - // - optional Orientation3d orientation = 5; - - // The type of the skeleton point - // - // \note Skeleton Points of each type can be assigned, or left empty depending - // on the desired level of detail, or present data. However, if a Skeleton Point - // is defined, all Skeleton Points in the chain from that point back to the root - // point must be defined to create a complete chain. - // - enum Type { - - // Root point is usually located in the COM - // - TYPE_ROOT = 0; - - // Skeleton Point is located in the hip. - // - TYPE_HIP = 1; - - // Skeleton Points defines part of the spine. - // - // \note skeleton usually contains more than one spine point. - // - TYPE_SPINE = 2; - - // Skeleton Point defines the neck. - // - TYPE_NECK = 3; - - // Skeleton Point defines the head. - // - TYPE_HEAD = 4; - - // Skeleton Point defines one of the eyes. - // - TYPE_EYE = 5; - - // Skeleton Point defines the jaw. - // - TYPE_JAW = 6; - - // Skeleton Point defines one of the shoulders. - // - TYPE_SHOULDER = 7; - - // Skeleton Point defines one of the upper arms. - // - TYPE_UPPER_ARM = 8; - - // Skeleton Point defines one of the forearms. - // - TYPE_FORE_ARM = 9; - - // Skeleton Point defines one of the hands. - // - TYPE_HAND = 10; - - // Skeleton Point defines one of the thumbs. - // - // \note Fingers usually contain three skeleton points (start, middle, end) - // - TYPE_FINGER_THUMB = 11; - - // Skeleton Point defines one of the index fingers. - // - // \note Fingers usually contain three skeleton points (start, middle, end) - // - TYPE_FINGER_INDEX = 12; - - // Skeleton Point defines one of the middle fingers. - // - // \note Fingers usually contain three skeleton points (start, middle, end) - // - TYPE_FINGER_MIDDLE = 13; - - // Skeleton Point defines one of the ring fingers. - // - // \note Fingers usually contain three skeleton points (start, middle, end) - // - TYPE_FINGER_RING = 14; - - // Skeleton Point defines one of the pinky fingers. - // - // \note Fingers usually contain three skeleton points (start, middle, end) - // - TYPE_FINGER_PINKY = 15; - - // Skeleton Point defines one of the thighs. - // - TYPE_THIGH = 16; - - // Skeleton Point defines one of the shins. - // - TYPE_SHIN = 17; - - // Skeleton Point defines one of the feet. - // - TYPE_FOOT = 18; - - // Skeleton Point defines one of the toes. - // - // \note Toes usually contain two skeleton points for start and end. - // - TYPE_TOES = 19; - - } - - // Defines on which side of the body the Skeleton Point is located at. - // - enum Side { - - // Left body side. - // - SIDE_LEFT = 0; - - // Right body side. - // - SIDE_RIGHT = 1; - - // For root, spine, neck, head and jaw, middle is used for side. - // - SIDE_MIDDLE = 2; - } - - } - } - - - - + // \rules + // check_if this.type is_equal_to 3 else do_check is_set + // \endrules + // + optional PedestrianAttributes pedestrian_attributes = 12; + // // \brief The vehicle attributes for \c MovingObject (host or other). // @@ -1275,4 +1087,183 @@ message MovingObject ROLE_MILITARY = 10; } } + + // + // \brief Additional pedestrian data in case the moving object is a human. + // + // This is an extension to the \c MovingObject with additional information + // describing a pedestrian in more detail. + // + message PedestrianAttributes { + + // Position offset from the center of the bounding box to the current position + // of the root point of the pedestrian skeleton model. + // + optional Vector3d bbcenter_to_root = 1; + + // List of all bones of the pedestrian + // + // The number of bones may vary, based on the detail level of + // the pedestrian model used. For example, some simulators will not include + // detailed data about the hands of a pedestrian. + // + repeated Bone skeleton_data = 2; + + // Bones in the skeleton of the pedestrian + // + // Each point represents a joint, or otherwise important point in the skeleton + // of a pedestrian. For example pelvis, knee or shoulder. The naming convention + // should be followed for identifying bones. + // + message Bone { + + // Bones are identified by their type, combined with which body side + // they are on. + // + // To properly identify the bones the pre-defined naming convention + // must be used. + // + //\image html OSI_SkeletonNamingConvention.svg + // + // A bone's name, position, and orientation is defined by the end-point closer + // to the root. For example: the "LOWER_ARM_L" will define the point in the left + // elbow of the model. + // + // If a bone which is more than one layer detached from the + // root point is used, all bones between that bone and the root also + // need to be defined in order to create a complete chain! + // + // If information about bones are missing, they may be left empty. A complete + // set of bones for the entire skeleton can't be expected! + // + optional Type type = 1; + + // Position of the bone + // + // Reference System is the root, defined by bbcenter_to_root + // (\c PedestrianAttributes::bbcenter_to_root). + // + // + optional Vector3d position = 2; + + // Orientation of the skeleton point + // + // Reference System is the root, defined by bbcenter_to_root + // (\c PedestrianAttributes::bbcenter_to_root). + // + optional Orientation3d orientation = 3; + + // Orientation of the skeleton point + // + // Reference System is the root, defined by bbcenter_to_root + // (\c PedestrianAttributes::bbcenter_to_root). + // + optional float length = 4; + + // Determines if bones of a pedestrian are explicitly missing from the model. + // + // In case a pedestrian has missing limbs this can be explicitly communicated + // by setting this boolean to TRUE. + // + optional bool missing = 5; + + // The type of the skeleton point + // + // \note Skeleton Points of each type can be assigned, or left empty depending + // on the desired level of detail, or present data. However, if a Skeleton Point + // is defined, all Skeleton Points in the chain from that point back to the root + // point must be defined to create a complete chain. + // + enum Type { + + // Root point of the pedestrian. Defined by bbcenter_to_root + // (\c PedestrianAttributes::bbcenter_to_root). + // + TYPE_ROOT = 0; + + // Bone defining the hip. + // + TYPE_HIP = 1; + + // Bone defines the lower part of the spine. + // + TYPE_LOWER_SPINE = 2; + + // Bone defines the upper part of the spine. + // + TYPE_UPPER_SPINE = 3; + + // Bone defines the neck. + // + TYPE_NECK = 4; + + // Bone defines the head. + // + TYPE_HEAD = 5; + + // Bone defines one of the shoulders. + // + TYPE_SHOULDER_L = 6; + + // Bone defines one of the shoulders. + // + TYPE_SHOULDER_R = 7; + + // Bone defines one of the upper arms. + // + TYPE_UPPER_ARM_L = 8; + + // Bone defines one of the upper arms. + // + TYPE_UPPER_ARM_R = 9; + + // Bone defines one of the forearms. + // + TYPE_LOWER_ARM_L = 10; + + // Bone defines one of the forearms. + // + TYPE_LOWER_ARM_R = 11; + + // Bone defines one of the hands. + // + TYPE_FULL_HAND_L = 12; + + // Bone defines one of the hands. + // + TYPE_FULL_HAND_R = 13; + + // Bone defines one of the thighs. + // + TYPE_UPPER_LEG_L = 14; + // Bone defines one of the thighs. + // + TYPE_UPPER_LEG_R = 15; + + // Bone defines one of the shins. + // + TYPE_LOWER_LEG_L = 16; + + // Bone defines one of the shins. + // + TYPE_LOWER_LEG_R = 17; + + // Bone defines one of the feet. + // + TYPE_FOOT_L = 18; + + // Bone defines one of the feet. + // + TYPE_FOOT_R = 19; + + // Bone defines one of the toes. + // + TYPE_TOES_L = 20; + + // Bone defines one of the toes. + // + TYPE_TOES_R = 21; + } + } + } } From b83a6055c8cce36eb2f0c727daeba21e85531819 Mon Sep 17 00:00:00 2001 From: Jakob Peintner Date: Mon, 19 Jun 2023 09:17:51 +0200 Subject: [PATCH 160/164] Add Pedestrian Model hierarchy image Signed-off-by: Jakob Peintner --- doc/images/OSI_PedestrianModelHierarchy.jpg | Bin 0 -> 192509 bytes osi_object.proto | 31 ++++++++------------ 2 files changed, 13 insertions(+), 18 deletions(-) create mode 100644 doc/images/OSI_PedestrianModelHierarchy.jpg diff --git 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For example pelvis, knee or shoulder. The naming convention @@ -1123,7 +1124,7 @@ message MovingObject // To properly identify the bones the pre-defined naming convention // must be used. // - //\image html OSI_SkeletonNamingConvention.svg + // \image html OSI_SkeletonNamingConvention.svg // // A bone's name, position, and orientation is defined by the end-point closer // to the root. For example: the "LOWER_ARM_L" will define the point in the left @@ -1146,14 +1147,14 @@ message MovingObject // optional Vector3d position = 2; - // Orientation of the skeleton point + // Orientation of the bone // // Reference System is the root, defined by bbcenter_to_root // (\c PedestrianAttributes::bbcenter_to_root). // optional Orientation3d orientation = 3; - // Orientation of the skeleton point + // Orientation of the bone // // Reference System is the root, defined by bbcenter_to_root // (\c PedestrianAttributes::bbcenter_to_root). @@ -1167,13 +1168,15 @@ message MovingObject // optional bool missing = 5; - // The type of the skeleton point + // The type of the bone // - // \note Skeleton Points of each type can be assigned, or left empty depending - // on the desired level of detail, or present data. However, if a Skeleton Point - // is defined, all Skeleton Points in the chain from that point back to the root + // \note Bone of each type can be assigned, or left empty depending + // on the desired level of detail, or present data. However, if a bone is + // defined, all bones in the chain from that bone back to the root // point must be defined to create a complete chain. // + // \image html OSI_PedestrianModelHierarchy.jpg + // enum Type { // Root point of the pedestrian. Defined by bbcenter_to_root @@ -1250,19 +1253,11 @@ message MovingObject // Bone defines one of the feet. // - TYPE_FOOT_L = 18; + TYPE_FULL_FOOT_L = 18; // Bone defines one of the feet. // - TYPE_FOOT_R = 19; - - // Bone defines one of the toes. - // - TYPE_TOES_L = 20; - - // Bone defines one of the toes. - // - TYPE_TOES_R = 21; + TYPE_FULL_FOOT_R = 19; } } } From e6bb09221ed3508902bb7fc1e091168e8fdb7e4c Mon Sep 17 00:00:00 2001 From: Jakob Peintner Date: Wed, 21 Jun 2023 11:53:06 +0200 Subject: [PATCH 161/164] Fix minor formatting issues and typos Signed-off-by: Jakob Peintner --- osi_object.proto | 62 +++++++++++++++++++++++------------------------- 1 file changed, 30 insertions(+), 32 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 94ffbcb39..ffc3eb058 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -1094,30 +1094,30 @@ message MovingObject // This is an extension to the \c MovingObject with additional information // describing a pedestrian in more detail. // - message PedestrianAttributes { - + message PedestrianAttributes + { // Position offset from the center of the bounding box to the current position // of the root point of the pedestrian skeleton model. // optional Vector3d bbcenter_to_root = 1; - // List of all bones of the pedestrian + // List of all bones of the pedestrian. // // The number of bones may vary, based on the detail level of // the pedestrian model used. For example, some simulators will not include // detailed data about the hands of a pedestrian. // repeated Bone skeleton_data = 2; - - // - // \brief Bones in the skeleton of the pedestrian + + // + // \brief Bones in the skeleton of the pedestrian. // // Each point represents a joint, or otherwise important point in the skeleton // of a pedestrian. For example pelvis, knee or shoulder. The naming convention // should be followed for identifying bones. // - message Bone { - + message Bone + { // Bones are identified by their type, combined with which body side // they are on. // @@ -1134,41 +1134,39 @@ message MovingObject // root point is used, all bones between that bone and the root also // need to be defined in order to create a complete chain! // - // If information about bones are missing, they may be left empty. A complete - // set of bones for the entire skeleton can't be expected! + // If information about bones are missing, they may be left empty. // optional Type type = 1; - // Position of the bone + // Position of the bone. // // Reference System is the root, defined by bbcenter_to_root // (\c PedestrianAttributes::bbcenter_to_root). // - // optional Vector3d position = 2; - // Orientation of the bone + // Orientation of the bone. // // Reference System is the root, defined by bbcenter_to_root // (\c PedestrianAttributes::bbcenter_to_root). // optional Orientation3d orientation = 3; - // Orientation of the bone + // Orientation of the bone. // // Reference System is the root, defined by bbcenter_to_root // (\c PedestrianAttributes::bbcenter_to_root). // optional float length = 4; - // Determines if bones of a pedestrian are explicitly missing from the model. + // Determines a bone is explicitly missing from the pedestrian model. // // In case a pedestrian has missing limbs this can be explicitly communicated // by setting this boolean to TRUE. // optional bool missing = 5; - // The type of the bone + // The type of the bone. // // \note Bone of each type can be assigned, or left empty depending // on the desired level of detail, or present data. However, if a bone is @@ -1177,8 +1175,7 @@ message MovingObject // // \image html OSI_PedestrianModelHierarchy.jpg // - enum Type { - + enum Type { // Root point of the pedestrian. Defined by bbcenter_to_root // (\c PedestrianAttributes::bbcenter_to_root). // @@ -1204,58 +1201,59 @@ message MovingObject // TYPE_HEAD = 5; - // Bone defines one of the shoulders. + // Bone defines the left shoulder. // TYPE_SHOULDER_L = 6; - // Bone defines one of the shoulders. + // Bone defines the right shoulder. // TYPE_SHOULDER_R = 7; - // Bone defines one of the upper arms. + // Bone defines the left upper arm. // TYPE_UPPER_ARM_L = 8; - // Bone defines one of the upper arms. + // Bone defines the right upper arm. // TYPE_UPPER_ARM_R = 9; - // Bone defines one of the forearms. + // Bone defines the left forearm. // TYPE_LOWER_ARM_L = 10; - // Bone defines one of the forearms. + // Bone defines the right forearm. // TYPE_LOWER_ARM_R = 11; - // Bone defines one of the hands. + // Bone defines the left hand. // TYPE_FULL_HAND_L = 12; - // Bone defines one of the hands. + // Bone defines the right hand. // TYPE_FULL_HAND_R = 13; - // Bone defines one of the thighs. + // Bone defines the left thigh. // TYPE_UPPER_LEG_L = 14; - // Bone defines one of the thighs. + + // Bone defines the right thigh. // TYPE_UPPER_LEG_R = 15; - // Bone defines one of the shins. + // Bone defines the left shin. // TYPE_LOWER_LEG_L = 16; - // Bone defines one of the shins. + // Bone defines the right shin. // TYPE_LOWER_LEG_R = 17; - // Bone defines one of the feet. + // Bone defines the left foot. // TYPE_FULL_FOOT_L = 18; - // Bone defines one of the feet. + // Bone defines the right foot. // TYPE_FULL_FOOT_R = 19; } From 0cf4e9fbd216099bd4a623f05ca030102247390b Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Wed, 21 Jun 2023 18:03:15 +0200 Subject: [PATCH 162/164] Fix various whitespace issues Signed-off-by: Pierre R. Mai --- osi_object.proto | 79 ++++++++++++++++++++++++------------------------ 1 file changed, 40 insertions(+), 39 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index ffc3eb058..51df14849 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -523,7 +523,7 @@ message MovingObject // \endrules // optional PedestrianAttributes pedestrian_attributes = 12; - + // // \brief The vehicle attributes for \c MovingObject (host or other). // @@ -1027,18 +1027,18 @@ message MovingObject } } - // Definition of vehicle roles. + // Definition of vehicle roles. // - // The role specifies the perceived role of a vehicle. Therefore, a - // civil police car is set to ROLE_CIVIL as long as it cannot be - // perceived as a ROLE_POLICE. - // The normal use case will consist of 99% ROLE_CIVIL, as this role is + // The role specifies the perceived role of a vehicle. Therefore, a + // civil police car is set to ROLE_CIVIL as long as it cannot be + // perceived as a ROLE_POLICE. + // The normal use case will consist of 99% ROLE_CIVIL, as this role is // used for normal vehicles. // These roles may influence the behavior in traffic of the surrounding vehicles. - // To check whether a role is "active" (e.g. blue flashing light of an - // ambulance or an amber flashing light of a sweeper) can be looked up + // To check whether a role is "active" (e.g. blue flashing light of an + // ambulance or an amber flashing light of a sweeper) can be looked up // in message LightState. - // + // // enum Role { @@ -1053,7 +1053,7 @@ message MovingObject // The vehicle role is civil, e.g. a "normal" car. // ROLE_CIVIL = 2; - + // The vehicle role is ambulance. // ROLE_AMBULANCE = 3; @@ -1073,7 +1073,7 @@ message MovingObject // The vehicle role is roadside assistance, e.g. tow truck. // ROLE_ROAD_ASSISTANCE = 7; - + // The vehicle role is garbage collection, e.g. a garbage truck or sweeper. // ROLE_GARBAGE_COLLECTION = 8; @@ -1081,7 +1081,7 @@ message MovingObject // The vehicle role is road construction, e.g. a excavator or tipper truck. // ROLE_ROAD_CONSTRUCTION = 9; - + // The vehicle role is military, e.g. camouflaged truck. // ROLE_MILITARY = 10; @@ -1091,37 +1091,37 @@ message MovingObject // // \brief Additional pedestrian data in case the moving object is a human. // - // This is an extension to the \c MovingObject with additional information + // This is an extension to the \c MovingObject with additional information // describing a pedestrian in more detail. - // + // message PedestrianAttributes { // Position offset from the center of the bounding box to the current position // of the root point of the pedestrian skeleton model. - // + // optional Vector3d bbcenter_to_root = 1; // List of all bones of the pedestrian. - // - // The number of bones may vary, based on the detail level of - // the pedestrian model used. For example, some simulators will not include + // + // The number of bones may vary, based on the detail level of + // the pedestrian model used. For example, some simulators will not include // detailed data about the hands of a pedestrian. - // + // repeated Bone skeleton_data = 2; - + // // \brief Bones in the skeleton of the pedestrian. // - // Each point represents a joint, or otherwise important point in the skeleton - // of a pedestrian. For example pelvis, knee or shoulder. The naming convention + // Each point represents a joint, or otherwise important point in the skeleton + // of a pedestrian. For example pelvis, knee or shoulder. The naming convention // should be followed for identifying bones. // message Bone { // Bones are identified by their type, combined with which body side // they are on. - // - // To properly identify the bones the pre-defined naming convention + // + // To properly identify the bones the pre-defined naming convention // must be used. // // \image html OSI_SkeletonNamingConvention.svg @@ -1135,27 +1135,27 @@ message MovingObject // need to be defined in order to create a complete chain! // // If information about bones are missing, they may be left empty. - // + // optional Type type = 1; // Position of the bone. - // - // Reference System is the root, defined by bbcenter_to_root - // (\c PedestrianAttributes::bbcenter_to_root). - // + // + // Reference System is the root, defined by bbcenter_to_root + // (\c PedestrianAttributes::bbcenter_to_root). + // optional Vector3d position = 2; // Orientation of the bone. // - // Reference System is the root, defined by bbcenter_to_root - // (\c PedestrianAttributes::bbcenter_to_root). + // Reference System is the root, defined by bbcenter_to_root + // (\c PedestrianAttributes::bbcenter_to_root). // optional Orientation3d orientation = 3; // Orientation of the bone. // - // Reference System is the root, defined by bbcenter_to_root - // (\c PedestrianAttributes::bbcenter_to_root). + // Reference System is the root, defined by bbcenter_to_root + // (\c PedestrianAttributes::bbcenter_to_root). // optional float length = 4; @@ -1169,14 +1169,15 @@ message MovingObject // The type of the bone. // // \note Bone of each type can be assigned, or left empty depending - // on the desired level of detail, or present data. However, if a bone is - // defined, all bones in the chain from that bone back to the root - // point must be defined to create a complete chain. + // on the desired level of detail, or present data. However, if a + // bone is defined, all bones in the chain from that bone back to + // the root point must be defined to create a complete chain. // // \image html OSI_PedestrianModelHierarchy.jpg // - enum Type { - // Root point of the pedestrian. Defined by bbcenter_to_root + enum Type + { + // Root point of the pedestrian. Defined by bbcenter_to_root // (\c PedestrianAttributes::bbcenter_to_root). // TYPE_ROOT = 0; @@ -1244,7 +1245,7 @@ message MovingObject // Bone defines the left shin. // TYPE_LOWER_LEG_L = 16; - + // Bone defines the right shin. // TYPE_LOWER_LEG_R = 17; From 638d4086f931b12eab0503821a7d4f7aaa62ad16 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Thu, 22 Jun 2023 11:09:43 +0200 Subject: [PATCH 163/164] Apply suggestions from CCB code review Signed-off-by: Pierre R. Mai --- osi_object.proto | 57 ++++++++++++++++++++++++------------------------ 1 file changed, 29 insertions(+), 28 deletions(-) diff --git a/osi_object.proto b/osi_object.proto index 51df14849..9d802b680 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -1107,7 +1107,12 @@ message MovingObject // the pedestrian model used. For example, some simulators will not include // detailed data about the hands of a pedestrian. // - repeated Bone skeleton_data = 2; + // \note A bone of each type can be provided, or left out, depending + // on the desired level of detail, or available data. However, if a + // bone is defined, all bones in the chain from that bone back to + // the root point must be provided to create a complete chain. + // + repeated Bone skeleton_bone = 2; // // \brief Bones in the skeleton of the pedestrian. @@ -1152,14 +1157,15 @@ message MovingObject // optional Orientation3d orientation = 3; - // Orientation of the bone. + // Length of the bone. // - // Reference System is the root, defined by bbcenter_to_root - // (\c PedestrianAttributes::bbcenter_to_root). + // Measured along its major axis. + // + // Unit: m // optional float length = 4; - // Determines a bone is explicitly missing from the pedestrian model. + // Determines whether a bone is explicitly missing from the pedestrian model. // // In case a pedestrian has missing limbs this can be explicitly communicated // by setting this boolean to TRUE. @@ -1168,11 +1174,6 @@ message MovingObject // The type of the bone. // - // \note Bone of each type can be assigned, or left empty depending - // on the desired level of detail, or present data. However, if a - // bone is defined, all bones in the chain from that bone back to - // the root point must be defined to create a complete chain. - // // \image html OSI_PedestrianModelHierarchy.jpg // enum Type @@ -1186,75 +1187,75 @@ message MovingObject // TYPE_HIP = 1; - // Bone defines the lower part of the spine. + // Bone defining the lower part of the spine. // TYPE_LOWER_SPINE = 2; - // Bone defines the upper part of the spine. + // Bone defining the upper part of the spine. // TYPE_UPPER_SPINE = 3; - // Bone defines the neck. + // Bone defining the neck. // TYPE_NECK = 4; - // Bone defines the head. + // Bone defining the head. // TYPE_HEAD = 5; - // Bone defines the left shoulder. + // Bone defining the left shoulder. // TYPE_SHOULDER_L = 6; - // Bone defines the right shoulder. + // Bone defining the right shoulder. // TYPE_SHOULDER_R = 7; - // Bone defines the left upper arm. + // Bone defining the left upper arm. // TYPE_UPPER_ARM_L = 8; - // Bone defines the right upper arm. + // Bone defining the right upper arm. // TYPE_UPPER_ARM_R = 9; - // Bone defines the left forearm. + // Bone defining the left forearm. // TYPE_LOWER_ARM_L = 10; - // Bone defines the right forearm. + // Bone defining the right forearm. // TYPE_LOWER_ARM_R = 11; - // Bone defines the left hand. + // Bone defining the left hand. // TYPE_FULL_HAND_L = 12; - // Bone defines the right hand. + // Bone defining the right hand. // TYPE_FULL_HAND_R = 13; - // Bone defines the left thigh. + // Bone defining the left thigh. // TYPE_UPPER_LEG_L = 14; - // Bone defines the right thigh. + // Bone defining the right thigh. // TYPE_UPPER_LEG_R = 15; - // Bone defines the left shin. + // Bone defining the left shin. // TYPE_LOWER_LEG_L = 16; - // Bone defines the right shin. + // Bone defining the right shin. // TYPE_LOWER_LEG_R = 17; - // Bone defines the left foot. + // Bone defining the left foot. // TYPE_FULL_FOOT_L = 18; - // Bone defines the right foot. + // Bone defining the right foot. // TYPE_FULL_FOOT_R = 19; } From 296c549e95364f360beb724e39b2c6470d94b780 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Thu, 22 Jun 2023 13:44:27 +0200 Subject: [PATCH 164/164] Update VERSION for release 3.6.0 --- VERSION | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/VERSION b/VERSION index 46ae539ab..24beea772 100644 --- a/VERSION +++ b/VERSION @@ -1,3 +1,3 @@ VERSION_MAJOR = 3 -VERSION_MINOR = 5 +VERSION_MINOR = 6 VERSION_PATCH = 0

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a/doc/usecases/transforming_coordinate_systems.adoc b/doc/usecases/transforming_coordinate_systems.adoc index 491a560f0..541003335 100644 --- a/doc/usecases/transforming_coordinate_systems.adoc +++ b/doc/usecases/transforming_coordinate_systems.adoc @@ -13,7 +13,7 @@ It demonstrates how a global coordinate system, vehicle coordinate system, and s **Mathematical Definitions of Coordinate Transformations** -All vectors and matrices are noted with reference frame as a superscript index and the direction of translation as a supscript index. cite:[reuper2020] +All vectors and matrices are noted with reference frame as a superscript index and the direction of translation as a subscript index. cite:[reuper2020] The translation direction is from the first index to the second index (src: source coordinate system, trg: target coordinate system). The vector latexmath:[\boldsymbol{v}^x] denotes the 3D position of an object in the coordinate frame latexmath:[x]. Vector latexmath:[\boldsymbol{t}] is the translation vector between two coordinate systems with the described indices for reference frame and direction. @@ -36,7 +36,7 @@ Transformation back from target latexmath:[trg] to source latexmath:[src] coordi With the rotation matrix (from rotating the coordinate system) cite:[wiki_rotation_matrix]: [latexmath] ++++ -\boldsymbol{R}_{srv}^{trg}=\boldsymbol{R}_{yaw,pitch,roll} = \boldsymbol{R}_{z,y,x} = \boldsymbol{R}_{x}(\phi) \boldsymbol{R}_{y}(\theta) \boldsymbol{R}_{z}(\psi) \\ +\boldsymbol{R}_{src}^{trg}=\boldsymbol{R}_{yaw,pitch,roll} = \boldsymbol{R}_{z,y,x} = \boldsymbol{R}_{x}(\phi) \boldsymbol{R}_{y}(\theta) \boldsymbol{R}_{z}(\psi) \\ \boldsymbol{R}_{z,y,x} = \begin{pmatrix} @@ -77,8 +77,8 @@ Object rotation Matrix: latexmath:[\boldsymbol{R}_{object}^{src}] + Host vehicle rotation Matrix: latexmath:[\boldsymbol{R}_{ego}^{src}] + Resulting rotation matrix between object and host: latexmath:[\boldsymbol{R}_{object}^{src}(\boldsymbol{R}_{ego}^{src})^{T}] + -To transform from world coordinates into vehicle coordinates and back use the formulas from above with the world coordinates frame latexmath:[w] as source system latexmath:[src] and vehicle coordinates frame latexmath:[v] as target system latexmath:[trg]. -To transform from world coordinates into vehicle coordinates and back use the formulas from above with the vehicle coordinates frame latexmath:[v] as source system latexmath:[src] and sensor coordinates frame latexmath:[s] as target system latexmath:[trg]. +To transform from world coordinates into host vehicle coordinates and back use the formulas from above with the world coordinates frame latexmath:[w] as source system latexmath:[src] and host vehicle coordinates frame latexmath:[v] as target system latexmath:[trg]. +To transform from host vehicle coordinates into sensor coordinates and back use the formulas from above with the host vehicle coordinates frame latexmath:[v] as source system latexmath:[src] and sensor coordinates frame latexmath:[s] as target system latexmath:[trg]. **Corresponding messages** @@ -91,19 +91,19 @@ In Open Simulation Interface, an object's position is defined by the coordinates This field defines the orientation of the vehicle's reference point in global coordinates. ``GroundTruth::moving_object::vehicle_attributes::bbcenter_to_rear``:: -This field specifies the vector pointing from the vehicle's reference point to the middle of the rear axle under neutral load conditions in the vehicle coordinates. +This field specifies the vector pointing from the vehicle's reference point to the middle of the rear axle under neutral load conditions. ``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. +This field defines the sensor's virtual mounting position and orientation and thereby the origin of the virtual sensor coordinate system. +The mounting position is given in the host 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. +A vector pointing from the reference position of the vehicle to the center of the rear axle then yields the origin of the host 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 host vehicle coordinate system. [#fig-coordinate-systems-example] .Schematic example of OSI coordinate systems and their relationship -image::{images_open_simulation_interface}/osi_example_coordinate_systems.png[] +image::{images_open_simulation_interface}/OSI_MovingObject.svg[Static,600] From ec5227dabc8607d7d875c8fddc7528f59cfb6220 Mon Sep 17 00:00:00 2001 From: Philipp Rosenberger Date: Thu, 16 Feb 2023 18:28:55 +0100 Subject: [PATCH 138/164] Move installation steps from README to documentation Signed-off-by: Philipp Rosenberger --- README.md | 50 ++----------- doc/open-simulation-interface_user_guide.adoc | 2 + doc/setup/installing_linux_cpp.adoc | 4 +- doc/setup/installing_linux_python.adoc | 4 +- doc/setup/installing_prerequisites.adoc | 74 +++++++++++++++++++ doc/setup/installing_windows_cpp.adoc | 3 +- doc/setup/installing_windows_python.adoc | 1 + 7 files changed, 88 insertions(+), 50 deletions(-) create mode 100644 doc/setup/installing_prerequisites.adoc diff --git a/README.md b/README.md index 26464592e..75e63051d 100644 --- a/README.md +++ b/README.md @@ -20,47 +20,11 @@ For usage examples, please refer to the official documentation: - [OSMPCNetworkProxy](https://github.com/OpenSimulationInterface/osi-sensor-model-packaging/tree/master/examples/OSMPCNetworkProxy) ## Installation -##### Dependencies -Install `cmake` 3.10.2: -```bash -$ sudo apt-get install cmake -``` -Install `pip3` and missing python packages: -```bash -$ sudo apt-get install python3-pip python3-setuptools -``` -Install `protobuf`: -```bash -$ sudo apt-get install libprotobuf-dev protobuf-compiler -``` - -##### Build and install for `C++` usage: -```bash -$ git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git -$ cd open-simulation-interface -$ mkdir build -$ cd build -$ cmake .. -$ make -$ sudo make install -``` - -##### Install for `Python` usage: -Local: -```bash -$ 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 -$ python3 -m pip install . -``` - -Global: -```bash -$ git clone https://github.com/OpenSimulationInterface/open-simulation-interface.git -$ cd open-simulation-interface -$ sudo pip3 install . -``` -For Windows installation see [here](https://opensimulationinterface.github.io/osi-documentation/open-simulation-interface/doc/windows.html) for more information. +For detailed installation instructions, please refer to the official documentation: +- [Setting up OSI](https://opensimulationinterface.github.io/osi-documentation/#_setting_up_osi) + - [Installing _protobuf_ for static / dynamic linking](https://opensimulationinterface.github.io/osi-documentation/#_installing_prerequisites) + - [Installing OSI for C++ on Linux](https://opensimulationinterface.github.io/osi-documentation/#_installing_osi_for_c_on_linux) + - [Installing OSI for Python on Linux](https://opensimulationinterface.github.io/osi-documentation/#_installing_osi_for_python_on_linux) + - [Installing OSI for C++ on Windows](https://opensimulationinterface.github.io/osi-documentation/#_installing_osi_for_c_on_windows) + - [Installing OSI for Python on Windows](https://opensimulationinterface.github.io/osi-documentation/#_installing_osi_for_python_on_windows) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index c331a566f..1386b0f4e 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -73,6 +73,8 @@ include::./architecture/formatting_scripts.adoc[leveloffset=+3] == Setting up OSI +include::./setup/installing_prerequisites.adoc[leveloffset=+2] + include::./setup/installing_linux_cpp.adoc[leveloffset=+2] include::./setup/installing_linux_python.adoc[leveloffset=+2] diff --git a/doc/setup/installing_linux_cpp.adoc b/doc/setup/installing_linux_cpp.adoc index 97050578d..a613fafc1 100644 --- a/doc/setup/installing_linux_cpp.adoc +++ b/doc/setup/installing_linux_cpp.adoc @@ -6,9 +6,7 @@ endif::[] **Prerequisites** -* You have installed _cmake_. -* You have installed _protobuf_. -* You must have super user privileges. +* You have installed everything described in <>. **Steps** diff --git a/doc/setup/installing_linux_python.adoc b/doc/setup/installing_linux_python.adoc index 771de0b20..09847f82f 100644 --- a/doc/setup/installing_linux_python.adoc +++ b/doc/setup/installing_linux_python.adoc @@ -6,9 +6,9 @@ endif::[] **Prerequisites** +* You have installed everything described in <>. * You have installed _pip3_. * You have installed _python-setuptools_. -* You have installed _protobuf_. * For a local installation, you have installed _virtualenv_. **Steps** @@ -42,7 +42,7 @@ source venv/bin/activate .. Local installation + ---- -pip3 install . +python3 -m pip install . ---- + .. Global installation diff --git a/doc/setup/installing_prerequisites.adoc b/doc/setup/installing_prerequisites.adoc new file mode 100644 index 000000000..a92fae058 --- /dev/null +++ b/doc/setup/installing_prerequisites.adoc @@ -0,0 +1,74 @@ +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] + += Installing _protobuf_ for static / dynamic linking + +== Prerequisites + +* You have installed _cmake_ (version 3.10.2 or higher). +* You must have super user privileges. + +Static linking is the recommended way to package OSI FMUs for sharing with others to be integrated in a co-simulation: They should have minimal external dependencies, in order to ensure maximum portability. +Fo other use cases like first trials to get started with OSI, dynamic linking could be an option, as well. + +== Windows + +**Dynamic Linking (NOT RECOMMENDED)** + +Since on windows symbols are not exported per default it can be kind of annoying to deal with this during _protobuf_ header generation (see for example https://groups.google.com/g/protobuf/c/PDR1bqRazts). +So basically thats one more reason to use static linking. + +**Static Linking** + +Static linking might require to manually build _protobuf_. +Its important to notice that on windows you can also specify how to link against the C runtime. +Basically this can be set in CMake e.g. https://cmake.org/cmake/help/latest/prop_tgt/MSVC_RUNTIME_LIBRARY.html + +Therefore, it could make sense to still dynamically link against the C Runtime when statically linking _protobuf_ / OSI. +(This is important e.g. when building shared libraries, since a static C runtime will create an isolated heap for your dll, which can lead to segfaults depending on what you expose on your public interfaces.) + +The easiest way to achieve static linking on Windows without setting all the stuff manually in Cmake and building _protobuf_ is to actually use vcpkg: + +**Install static _protobuf_ with dynamic c-runtime with vcpkg:** + +---- +vcpkg install --triplet=x64-windows-static-md protobuf +---- + +**Build:** + +For the cmake configuration we can directly specify our vcpkg installation: +---- +cmake .. -DVCPKG_TARGET_TRIPLET=x64-windows-static-md -DCMAKE_TOOLCHAIN_FILE=C:/path/to/vcpkg/scripts/buildsystems/vcpkg.cmake -A x64 +cmake --build . --config Release +---- + +== Linux + +**Dynamic linking (NOT RECOMMENDED)** + +As already mentioned, shared linking is possible on linux, but NOT RECOMMENDED. +However, for dynamic linking, install _protobuf_ (version 3.0.0 or higher) with apt: +---- +sudo apt-get install libprotobuf-dev protobuf-compiler +---- +and in the CMakeLists of the OSI project, `LINK_WITH_SHARED_OSI` has to be enabled. + +**Static linking** + +A common error here is to just install _protobuf_ with apt and link against it. +This means that your OSI is build statically but still linking dynamically against _protobuf_. +Here, again either _protobuf_ has to build statically from source or some solution e.g. vcpkg needs to be utilized. We recommend the following (as in the README of the OSI project): + +Install _protobuf_ (version 3.0.0 or higher) from source with `CXXFLAGS="-fPIC"` to allow static linking of your OSI FMUs (replace with preferred release): +---- +wget https://github.com/protocolbuffers/protobuf/releases/download//protobuf-all-.tar.gz +tar -xzf protobuf-all-.tar.gz +cd protobuf-/ +./configure --disable-shared CXXFLAGS="-fPIC" +make +sudo make install +sudo ldconfig +---- diff --git a/doc/setup/installing_windows_cpp.adoc b/doc/setup/installing_windows_cpp.adoc index d14208544..cc67fa7b5 100644 --- a/doc/setup/installing_windows_cpp.adoc +++ b/doc/setup/installing_windows_cpp.adoc @@ -6,8 +6,7 @@ endif::[] **Prerequisites** -* You have installed _cmake_ as an administrator. -* You have installed _protobuf_ as an administrator. +* You have installed everything described in <>. **Steps** diff --git a/doc/setup/installing_windows_python.adoc b/doc/setup/installing_windows_python.adoc index e48ccd1f8..f228e6a16 100644 --- a/doc/setup/installing_windows_python.adoc +++ b/doc/setup/installing_windows_python.adoc @@ -6,6 +6,7 @@ endif::[] **Prerequisites** +* You have installed everything described in <>. * You have installed _Python_ with administrator rights. * Make sure _Python_ is added to `PATH`. From 34821c07ccd4bc580fb4979cf2bb52b533f5ecc9 Mon Sep 17 00:00:00 2001 From: Philip Windecker Date: Mon, 13 Mar 2023 12:20:53 +0100 Subject: [PATCH 139/164] Converted section title to separate page for setting up osi Signed-off-by: Philip Windecker --- README.md | 12 +++---- doc/open-simulation-interface_user_guide.adoc | 4 ++- doc/setup/installing_linux_cpp.adoc | 2 +- doc/setup/installing_linux_python.adoc | 2 +- doc/setup/installing_prerequisites.adoc | 35 ++++++++++--------- doc/setup/installing_windows_cpp.adoc | 2 +- doc/setup/installing_windows_python.adoc | 2 +- doc/setup/setting_up_osi.adoc | 6 ++++ 8 files changed, 37 insertions(+), 28 deletions(-) create mode 100644 doc/setup/setting_up_osi.adoc diff --git a/README.md b/README.md index 75e63051d..47b5c4bc2 100644 --- a/README.md +++ b/README.md @@ -22,9 +22,9 @@ For usage examples, please refer to the official documentation: ## Installation For detailed installation instructions, please refer to the official documentation: -- [Setting up OSI](https://opensimulationinterface.github.io/osi-documentation/#_setting_up_osi) - - [Installing _protobuf_ for static / dynamic linking](https://opensimulationinterface.github.io/osi-documentation/#_installing_prerequisites) - - [Installing OSI for C++ on Linux](https://opensimulationinterface.github.io/osi-documentation/#_installing_osi_for_c_on_linux) - - [Installing OSI for Python on Linux](https://opensimulationinterface.github.io/osi-documentation/#_installing_osi_for_python_on_linux) - - [Installing OSI for C++ on Windows](https://opensimulationinterface.github.io/osi-documentation/#_installing_osi_for_c_on_windows) - - [Installing OSI for Python on Windows](https://opensimulationinterface.github.io/osi-documentation/#_installing_osi_for_python_on_windows) +- [Setting up OSI](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/interface/setup/setting_up_osi.html) + - [Installing _protobuf_ for static / dynamic linking](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/interface/setup/installing_prerequisites.html) + - [Installing OSI for C++ on Linux](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/interface/setup/installing_linux_cpp.html) + - [Installing OSI for Python on Linux](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/interface/setup/installing_linux_python.html) + - [Installing OSI for C++ on Windows](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/interface/setup/installing_windows_cpp.html) + - [Installing OSI for Python on Windows](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/interface/setup/installing_windows_python.html) diff --git a/doc/open-simulation-interface_user_guide.adoc b/doc/open-simulation-interface_user_guide.adoc index 1386b0f4e..90b288a6f 100644 --- a/doc/open-simulation-interface_user_guide.adoc +++ b/doc/open-simulation-interface_user_guide.adoc @@ -71,7 +71,9 @@ include::./architecture/trace_file_example.adoc[leveloffset=+3] include::./architecture/formatting_scripts.adoc[leveloffset=+3] -== Setting up OSI + +// Setting up OSI +include::./setup/setting_up_osi.adoc[leveloffset=+1] include::./setup/installing_prerequisites.adoc[leveloffset=+2] diff --git a/doc/setup/installing_linux_cpp.adoc b/doc/setup/installing_linux_cpp.adoc index a613fafc1..5119f54d8 100644 --- a/doc/setup/installing_linux_cpp.adoc +++ b/doc/setup/installing_linux_cpp.adoc @@ -6,7 +6,7 @@ endif::[] **Prerequisites** -* You have installed everything described in <>. +* You have installed everything described in <>. **Steps** diff --git a/doc/setup/installing_linux_python.adoc b/doc/setup/installing_linux_python.adoc index 09847f82f..2d70c34e5 100644 --- a/doc/setup/installing_linux_python.adoc +++ b/doc/setup/installing_linux_python.adoc @@ -6,7 +6,7 @@ endif::[] **Prerequisites** -* You have installed everything described in <>. +* You have installed everything described in <>. * You have installed _pip3_. * You have installed _python-setuptools_. * For a local installation, you have installed _virtualenv_. diff --git a/doc/setup/installing_prerequisites.adoc b/doc/setup/installing_prerequisites.adoc index a92fae058..b2e54db51 100644 --- a/doc/setup/installing_prerequisites.adoc +++ b/doc/setup/installing_prerequisites.adoc @@ -2,32 +2,32 @@ ifndef::include-only-once[] :root-path: ../ include::{root-path}_config.adoc[] endif::[] - -= Installing _protobuf_ for static / dynamic linking +[#top-installing-osi-prerequisits] += Installing protobuf for static / dynamic linking == Prerequisites -* You have installed _cmake_ (version 3.10.2 or higher). -* You must have super user privileges. +* You have installed _cmake_ (version 3.10.2 or higher) +* You must have superuser privileges -Static linking is the recommended way to package OSI FMUs for sharing with others to be integrated in a co-simulation: They should have minimal external dependencies, in order to ensure maximum portability. -Fo other use cases like first trials to get started with OSI, dynamic linking could be an option, as well. +Static linking is the recommended way to package OSI FMUs for sharing with others to be integrated in a co-simulation: They should have minimal external dependencies in order to ensure maximum portability. +For other use cases like first trials to get started with OSI, dynamic linking could be an option as well. == Windows **Dynamic Linking (NOT RECOMMENDED)** -Since on windows symbols are not exported per default it can be kind of annoying to deal with this during _protobuf_ header generation (see for example https://groups.google.com/g/protobuf/c/PDR1bqRazts). -So basically thats one more reason to use static linking. +Since on Windows symbols are not exported per default, it can be kind of annoying to deal with this during _protobuf_ header generation (see for example https://groups.google.com/g/protobuf/c/PDR1bqRazts). +That is an important reason to use static linking. **Static Linking** Static linking might require to manually build _protobuf_. -Its important to notice that on windows you can also specify how to link against the C runtime. -Basically this can be set in CMake e.g. https://cmake.org/cmake/help/latest/prop_tgt/MSVC_RUNTIME_LIBRARY.html +It is important to notice that on Windows you can also specify how to link against the C runtime. +Basically, this can be set in CMake, e.g. https://cmake.org/cmake/help/latest/prop_tgt/MSVC_RUNTIME_LIBRARY.html -Therefore, it could make sense to still dynamically link against the C Runtime when statically linking _protobuf_ / OSI. -(This is important e.g. when building shared libraries, since a static C runtime will create an isolated heap for your dll, which can lead to segfaults depending on what you expose on your public interfaces.) +Therefore, it could make sense to still dynamically link against the C Runtime when statically linking _protobuf_ / OSI. +(This is important e.g. when building shared libraries, since a static C runtime will create an isolated heap for your dll, which can lead to segfaults depending on what you expose on your public interfaces.) The easiest way to achieve static linking on Windows without setting all the stuff manually in Cmake and building _protobuf_ is to actually use vcpkg: @@ -39,7 +39,7 @@ vcpkg install --triplet=x64-windows-static-md protobuf **Build:** -For the cmake configuration we can directly specify our vcpkg installation: +For the cmake configuration, we can directly specify our vcpkg installation: ---- cmake .. -DVCPKG_TARGET_TRIPLET=x64-windows-static-md -DCMAKE_TOOLCHAIN_FILE=C:/path/to/vcpkg/scripts/buildsystems/vcpkg.cmake -A x64 cmake --build . --config Release @@ -49,18 +49,19 @@ cmake --build . --config Release **Dynamic linking (NOT RECOMMENDED)** -As already mentioned, shared linking is possible on linux, but NOT RECOMMENDED. -However, for dynamic linking, install _protobuf_ (version 3.0.0 or higher) with apt: +As already mentioned, shared linking is possible on Linux, but NOT RECOMMENDED. +However, for dynamic linking install _protobuf_ (version 3.0.0 or higher) with apt: ---- sudo apt-get install libprotobuf-dev protobuf-compiler ---- -and in the CMakeLists of the OSI project, `LINK_WITH_SHARED_OSI` has to be enabled. +In the CMakeLists of the OSI project, `LINK_WITH_SHARED_OSI` has to be enabled. **Static linking** A common error here is to just install _protobuf_ with apt and link against it. This means that your OSI is build statically but still linking dynamically against _protobuf_. -Here, again either _protobuf_ has to build statically from source or some solution e.g. vcpkg needs to be utilized. We recommend the following (as in the README of the OSI project): +Here, again either _protobuf_ has to build statically from source or some solution e.g. vcpkg needs to be utilized. +We recommend the following (as in the README of the OSI project): Install _protobuf_ (version 3.0.0 or higher) from source with `CXXFLAGS="-fPIC"` to allow static linking of your OSI FMUs (replace with preferred release): ---- diff --git a/doc/setup/installing_windows_cpp.adoc b/doc/setup/installing_windows_cpp.adoc index cc67fa7b5..8ef36410b 100644 --- a/doc/setup/installing_windows_cpp.adoc +++ b/doc/setup/installing_windows_cpp.adoc @@ -6,7 +6,7 @@ endif::[] **Prerequisites** -* You have installed everything described in <>. +* You have installed everything described in <>. **Steps** diff --git a/doc/setup/installing_windows_python.adoc b/doc/setup/installing_windows_python.adoc index f228e6a16..d0bd8a9d4 100644 --- a/doc/setup/installing_windows_python.adoc +++ b/doc/setup/installing_windows_python.adoc @@ -6,7 +6,7 @@ endif::[] **Prerequisites** -* You have installed everything described in <>. +* You have installed everything described in <>. * You have installed _Python_ with administrator rights. * Make sure _Python_ is added to `PATH`. diff --git a/doc/setup/setting_up_osi.adoc b/doc/setup/setting_up_osi.adoc new file mode 100644 index 000000000..9119641e5 --- /dev/null +++ b/doc/setup/setting_up_osi.adoc @@ -0,0 +1,6 @@ +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] +[#top-setting-up-osi] += Setting up OSI From fefe981e9d470f34719fbffd32bf2b76f287f26a Mon Sep 17 00:00:00 2001 From: Philipp Rosenberger Date: Tue, 9 May 2023 10:59:27 +0200 Subject: [PATCH 140/164] Description lists instead of manually formatting as bold in doc/setup Signed-off-by: Philipp Rosenberger --- doc/setup/including_osi_dev_projects.adoc | 6 +++--- doc/setup/installing_linux_cpp.adoc | 4 ++-- doc/setup/installing_linux_python.adoc | 4 ++-- doc/setup/installing_macos.adoc | 6 +++--- doc/setup/installing_prerequisites.adoc | 14 ++++++-------- doc/setup/installing_windows_cpp.adoc | 4 ++-- doc/setup/installing_windows_python.adoc | 4 ++-- doc/setup/using_osi_support_tools.adoc | 6 +++--- 8 files changed, 23 insertions(+), 25 deletions(-) diff --git a/doc/setup/including_osi_dev_projects.adoc b/doc/setup/including_osi_dev_projects.adoc index 7138417c8..748d4562f 100644 --- a/doc/setup/including_osi_dev_projects.adoc +++ b/doc/setup/including_osi_dev_projects.adoc @@ -8,14 +8,14 @@ TODO: Content to be added in future release. // TODO: Add description of this task. -**Prerequisites** +Prerequisites:: //TODO: Add prerequisites. -**Steps** +Steps:: // TODO: Add steps. -**Result** +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 index 5119f54d8..39ccacf67 100644 --- a/doc/setup/installing_linux_cpp.adoc +++ b/doc/setup/installing_linux_cpp.adoc @@ -4,11 +4,11 @@ include::{root-path}_config.adoc[] endif::[] = Installing OSI for C++ on Linux -**Prerequisites** +Prerequisites:: * You have installed everything described in <>. -**Steps** +Steps:: . Open a terminal. . Clone the Open Simulation repository. diff --git a/doc/setup/installing_linux_python.adoc b/doc/setup/installing_linux_python.adoc index 2d70c34e5..b1b84a32c 100644 --- a/doc/setup/installing_linux_python.adoc +++ b/doc/setup/installing_linux_python.adoc @@ -4,14 +4,14 @@ include::{root-path}_config.adoc[] endif::[] = Installing OSI for Python on Linux -**Prerequisites** +*Prerequisites:: * You have installed everything described in <>. * You have installed _pip3_. * You have installed _python-setuptools_. * For a local installation, you have installed _virtualenv_. -**Steps** +Steps:: . Open a terminal. . Clone the Open Simulation repository. diff --git a/doc/setup/installing_macos.adoc b/doc/setup/installing_macos.adoc index 83d64609c..cb27d563d 100644 --- a/doc/setup/installing_macos.adoc +++ b/doc/setup/installing_macos.adoc @@ -8,14 +8,14 @@ TODO: Content to be added in future release. // TODO: Add description of this task. -**Prerequisites** +Prerequisites:: //TODO: Add prerequisites. -**Steps** +Steps:: // TODO: Add steps. -**Result** +Result:: // TODO: Add result. \ No newline at end of file diff --git a/doc/setup/installing_prerequisites.adoc b/doc/setup/installing_prerequisites.adoc index b2e54db51..08eb4df5d 100644 --- a/doc/setup/installing_prerequisites.adoc +++ b/doc/setup/installing_prerequisites.adoc @@ -15,12 +15,12 @@ For other use cases like first trials to get started with OSI, dynamic linking c == Windows -**Dynamic Linking (NOT RECOMMENDED)** +Dynamic Linking (NOT RECOMMENDED):: Since on Windows symbols are not exported per default, it can be kind of annoying to deal with this during _protobuf_ header generation (see for example https://groups.google.com/g/protobuf/c/PDR1bqRazts). That is an important reason to use static linking. -**Static Linking** +Static Linking:: Static linking might require to manually build _protobuf_. It is important to notice that on Windows you can also specify how to link against the C runtime. @@ -29,15 +29,13 @@ Basically, this can be set in CMake, e.g. https://cmake.org/cmake/help/latest/pr Therefore, it could make sense to still dynamically link against the C Runtime when statically linking _protobuf_ / OSI. (This is important e.g. when building shared libraries, since a static C runtime will create an isolated heap for your dll, which can lead to segfaults depending on what you expose on your public interfaces.) -The easiest way to achieve static linking on Windows without setting all the stuff manually in Cmake and building _protobuf_ is to actually use vcpkg: - -**Install static _protobuf_ with dynamic c-runtime with vcpkg:** +The easiest way to achieve static linking on Windows without setting all the stuff manually in Cmake and building _protobuf_ is to actually **install static _protobuf_ with dynamic c-runtime with vcpkg**: ---- vcpkg install --triplet=x64-windows-static-md protobuf ---- -**Build:** +Build:: For the cmake configuration, we can directly specify our vcpkg installation: ---- @@ -47,7 +45,7 @@ cmake --build . --config Release == Linux -**Dynamic linking (NOT RECOMMENDED)** +Dynamic linking (NOT RECOMMENDED):: As already mentioned, shared linking is possible on Linux, but NOT RECOMMENDED. However, for dynamic linking install _protobuf_ (version 3.0.0 or higher) with apt: @@ -56,7 +54,7 @@ sudo apt-get install libprotobuf-dev protobuf-compiler ---- In the CMakeLists of the OSI project, `LINK_WITH_SHARED_OSI` has to be enabled. -**Static linking** +Static linking:: A common error here is to just install _protobuf_ with apt and link against it. This means that your OSI is build statically but still linking dynamically against _protobuf_. diff --git a/doc/setup/installing_windows_cpp.adoc b/doc/setup/installing_windows_cpp.adoc index 8ef36410b..f4feb4a35 100644 --- a/doc/setup/installing_windows_cpp.adoc +++ b/doc/setup/installing_windows_cpp.adoc @@ -4,11 +4,11 @@ include::{root-path}_config.adoc[] endif::[] = Installing OSI for C++ on Windows -**Prerequisites** +Prerequisites:: * You have installed everything described in <>. -**Steps** +Steps:: . Open a terminal as administrator. . Clone the Open Simulation repository. diff --git a/doc/setup/installing_windows_python.adoc b/doc/setup/installing_windows_python.adoc index d0bd8a9d4..ecb3d31cf 100644 --- a/doc/setup/installing_windows_python.adoc +++ b/doc/setup/installing_windows_python.adoc @@ -4,13 +4,13 @@ include::{root-path}_config.adoc[] endif::[] = Installing OSI for Python on Windows -**Prerequisites** +Prerequisites:: * You have installed everything described in <>. * You have installed _Python_ with administrator rights. * Make sure _Python_ is added to `PATH`. -**Steps** +Steps:: . Open a terminal. . Clone the Open Simulation repository. diff --git a/doc/setup/using_osi_support_tools.adoc b/doc/setup/using_osi_support_tools.adoc index 829bf3d04..4d856e931 100644 --- a/doc/setup/using_osi_support_tools.adoc +++ b/doc/setup/using_osi_support_tools.adoc @@ -8,14 +8,14 @@ TODO: Content to be added in future release. // TODO: Add description of this task. -**Prerequisites** +Prerequisites:: //TODO: Add prerequisites. -**Steps** +Steps:: // TODO: Add steps. -**Result** +Result:: // TODO: Add result. \ No newline at end of file From 048bea282662b5ed94a1f465a24e103dfe449b4a Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Thu, 15 Jun 2023 20:15:43 +0200 Subject: [PATCH 141/164] Move missing vcpkg information to prerequisites Signed-off-by: Pierre R. Mai --- doc/setup/installing_prerequisites.adoc | 15 +++++++++------ doc/setup/installing_windows_cpp.adoc | 6 ++++++ 2 files changed, 15 insertions(+), 6 deletions(-) diff --git a/doc/setup/installing_prerequisites.adoc b/doc/setup/installing_prerequisites.adoc index 08eb4df5d..00bd6fb90 100644 --- a/doc/setup/installing_prerequisites.adoc +++ b/doc/setup/installing_prerequisites.adoc @@ -31,16 +31,19 @@ Therefore, it could make sense to still dynamically link against the C Runtime w The easiest way to achieve static linking on Windows without setting all the stuff manually in Cmake and building _protobuf_ is to actually **install static _protobuf_ with dynamic c-runtime with vcpkg**: +Install vcpkg as per the vcpkg documentation. +Create a new triplet file for the required combination of static library linking with dynamic runtime (usually needed for dynamic linking to still work): +Create a file named x64-windows-static-md.cmake in the triplets directory with the following content: + ---- -vcpkg install --triplet=x64-windows-static-md protobuf +set(VCPKG_TARGET_ARCHITECTURE x64) +set(VCPKG_CRT_LINKAGE dynamic) +set(VCPKG_LIBRARY_LINKAGE static) ---- -Build:: - -For the cmake configuration, we can directly specify our vcpkg installation: +Now the protobuf libraries can be built automatically using: ---- -cmake .. -DVCPKG_TARGET_TRIPLET=x64-windows-static-md -DCMAKE_TOOLCHAIN_FILE=C:/path/to/vcpkg/scripts/buildsystems/vcpkg.cmake -A x64 -cmake --build . --config Release +vcpkg install --triplet=x64-windows-static-md protobuf ---- == Linux diff --git a/doc/setup/installing_windows_cpp.adoc b/doc/setup/installing_windows_cpp.adoc index f4feb4a35..373172947 100644 --- a/doc/setup/installing_windows_cpp.adoc +++ b/doc/setup/installing_windows_cpp.adoc @@ -43,6 +43,12 @@ cd build cmake .. [-G ] [-DCMAKE_INSTALL_PREFIX=] ---- + + If you used vcpkg to install protobuf, then provide the target and toolchain file information, as follows ++ +---- +cmake .. -DVCPKG_TARGET_TRIPLET=x64-windows-static-md -DCMAKE_TOOLCHAIN_FILE=C:/path/to/vcpkg/scripts/buildsystems/vcpkg.cmake -A x64 [-G ] [-DCMAKE_INSTALL_PREFIX=] +---- + . Build and install OSI. + ---- From c8b399b12da725bb6939965691a94f35713ff03b Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Thu, 15 Jun 2023 13:17:05 +0200 Subject: [PATCH 142/164] Fix flatbuffer build against previous build changes This fixes the flatc calls which were broken due to clearer separation of build and source directory usage. Signed-off-by: Pierre R. Mai --- CMakeLists.txt | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7f37803ff..4fe9c0acc 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -111,9 +111,9 @@ if(OSI_BUILD_FLATBUFFER) 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}" + COMMAND $ -I "${PROTOBUF_IMPORT_DIRS}" -I "${CMAKE_CURRENT_BINARY_DIR}" -o "${CMAKE_CURRENT_BINARY_DIR}" --proto "${proto}" DEPENDS "${proto}" flatc - WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}" + WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" COMMENT "Convert ${proto} to ${fbs} using flatc" ) list(APPEND FLAT_FBS "${CMAKE_CURRENT_BINARY_DIR}/${fbs}") From 55bfcf7460c988cd6191c003f8096483000f08d7 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Thu, 15 Jun 2023 17:39:54 +0200 Subject: [PATCH 143/164] Switch to findpackage for flatbuffers dependency Signed-off-by: Pierre R. Mai --- .gitmodules | 3 --- CMakeLists.txt | 17 +++++++++-------- flatbuffers | 1 - 3 files changed, 9 insertions(+), 12 deletions(-) delete mode 160000 flatbuffers diff --git a/.gitmodules b/.gitmodules index af7fa7314..e69de29bb 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +0,0 @@ -[submodule "flatbuffers"] - path = flatbuffers - url = https://github.com/google/flatbuffers.git diff --git a/CMakeLists.txt b/CMakeLists.txt index 4fe9c0acc..4d4334747 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -100,9 +100,10 @@ protobuf_generate_cpp(PROTO_SRCS PROTO_HEADERS ${OSI_PROTO_FILES}) set(FLAT_HEADERS "") if(OSI_BUILD_FLATBUFFER) set(FLAT_FBS "") - add_subdirectory("flatbuffers" - ${CMAKE_CURRENT_BINARY_DIR}/flatbuffers-build - EXCLUDE_FROM_ALL) + find_package(flatbuffers REQUIRED) + if(NOT FLATBUFFERS_FLATC_EXECUTABLE) + set(FLATBUFFERS_FLATC_EXECUTABLE ${flatbuffers_DIR}/../../tools/flatbuffers/flatc) + endif() file(WRITE "${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") @@ -111,8 +112,8 @@ if(OSI_BUILD_FLATBUFFER) set(fbs "${proto_base}.fbs") add_custom_command( OUTPUT "${fbs}" - COMMAND $ -I "${PROTOBUF_IMPORT_DIRS}" -I "${CMAKE_CURRENT_BINARY_DIR}" -o "${CMAKE_CURRENT_BINARY_DIR}" --proto "${proto}" - DEPENDS "${proto}" flatc + COMMAND ${FLATBUFFERS_FLATC_EXECUTABLE} -I "${PROTOBUF_IMPORT_DIRS}" -I "${CMAKE_CURRENT_BINARY_DIR}" -o "${CMAKE_CURRENT_BINARY_DIR}" --proto "${proto}" + DEPENDS "${proto}" WORKING_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}" COMMENT "Convert ${proto} to ${fbs} using flatc" ) @@ -125,8 +126,8 @@ if(OSI_BUILD_FLATBUFFER) set(fbh "${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 + COMMAND ${FLATBUFFERS_FLATC_EXECUTABLE} -o "${CMAKE_CURRENT_BINARY_DIR}/include" --cpp --gen-mutable --gen-name-strings --scoped-enums "${fbs}" + DEPENDS "${FLAT_FBS}" WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}" COMMENT "Process ${fbs} to ${fbh} using flatc" ) @@ -137,7 +138,7 @@ if(OSI_BUILD_FLATBUFFER) add_library(${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) + target_link_libraries(${PROJECT_NAME}_fbs INTERFACE flatbuffers::flatbuffers) endif() add_library(${PROJECT_NAME}_static STATIC ${PROTO_SRCS} ${PROTO_HEADERS}) diff --git a/flatbuffers b/flatbuffers deleted file mode 160000 index 6df40a247..000000000 --- a/flatbuffers +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 6df40a2471737b27271bdd9b900ab5f3aec746c7 From 1f113a3e4413446e397cf31003b06957d37f5550 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Thu, 15 Jun 2023 17:56:02 +0200 Subject: [PATCH 144/164] Reorder enum declaration and use for duplicated type names This is a temporary work-around for a bug in the flatc compiler when translating protobuf idl to fbs idl, where definition after use will confuse the compiler when type names are reused in the same file but different surrounding types. Signed-off-by: Pierre R. Mai --- osi_lane.proto | 43 ++++---- osi_object.proto | 104 +++++++++---------- osi_trafficsign.proto | 226 +++++++++++++++++++++--------------------- 3 files changed, 187 insertions(+), 186 deletions(-) diff --git a/osi_lane.proto b/osi_lane.proto index 062eb6a00..c95a30de1 100644 --- a/osi_lane.proto +++ b/osi_lane.proto @@ -973,27 +973,6 @@ message LaneBoundary // message Classification { - // The type of the lane boundary. - // - optional Type type = 1; - - // 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; - - // The ids of \c StationaryObject which limit the corresponding lane. - // This field must be set if the \c #type is set to - // \c #TYPE_STRUCTURE - // - // \rules - // refers_to: StationaryObject - // \endrules - // - repeated Identifier limiting_structure_id = 3; - // The lane boundary type. // There is no special representation for double lines, e.g. solid / // solid or dashed / solid. In such cases, each lane will define its own @@ -1070,6 +1049,28 @@ message LaneBoundary TYPE_SOUND_BARRIER = 15; } + // The type of the lane boundary. + // + optional Type type = 1; + + // 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; + + // The ids of \c StationaryObject which limit the corresponding lane. + // This field must be set if the \c #type is set to + // \c #TYPE_STRUCTURE + // + // \rules + // refers_to: StationaryObject + // \endrules + // + repeated Identifier limiting_structure_id = 3; + + // 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. diff --git a/osi_object.proto b/osi_object.proto index 94065881b..f2471e433 100644 --- a/osi_object.proto +++ b/osi_object.proto @@ -400,6 +400,31 @@ message MovingObject // optional BaseMoving base = 2; + // Definition of object types. + // + enum Type + { + // Type of the object is unknown (must not be used in ground truth). + // + TYPE_UNKNOWN = 0; + + // Other (unspecified but known) type of moving object. + // + TYPE_OTHER = 1; + + // Object is a vehicle. + // + TYPE_VEHICLE = 2; + + // Object is a pedestrian. + // + TYPE_PEDESTRIAN = 3; + + // Object is an animal. + // + TYPE_ANIMAL = 4; + } + // The type of the object. // optional Type type = 3; @@ -488,31 +513,6 @@ message MovingObject // optional ColorDescription color_description = 11; - // Definition of object types. - // - enum Type - { - // Type of the object is unknown (must not be used in ground truth). - // - TYPE_UNKNOWN = 0; - - // Other (unspecified but known) type of moving object. - // - TYPE_OTHER = 1; - - // Object is a vehicle. - // - TYPE_VEHICLE = 2; - - // Object is a pedestrian. - // - TYPE_PEDESTRIAN = 3; - - // Object is an animal. - // - TYPE_ANIMAL = 4; - } - // // \brief The vehicle attributes for \c MovingObject (host or other). // @@ -727,33 +727,6 @@ message MovingObject // message VehicleClassification { - // The type of the vehicle. - // - optional Type type = 1; - - // The light state of the vehicle. - // - optional LightState light_state = 2; - - // Flag defining whether the vehicle has an attached trailer. - // - optional bool has_trailer = 3; - - // Id of the attached trailer. - // - // \note Field need not be set if has_Trailer is set to false or use - // value for non valid id. - // - // \rules - // check_if this.has_trailer is_equal_to true else do_check is_set - // \endrules - // - optional Identifier trailer_id = 4; - - // The role of the vehicle. - // - optional Role role = 5; - // Definition of vehicle types. // // \note OSI provides a richer set of vehicle types than is supported by some @@ -873,6 +846,33 @@ message MovingObject TYPE_STANDUP_SCOOTER = 17; } + // The type of the vehicle. + // + optional Type type = 1; + + // The light state of the vehicle. + // + optional LightState light_state = 2; + + // Flag defining whether the vehicle has an attached trailer. + // + optional bool has_trailer = 3; + + // Id of the attached trailer. + // + // \note Field need not be set if has_Trailer is set to false or use + // value for non valid id. + // + // \rules + // check_if this.has_trailer is_equal_to true else do_check is_set + // \endrules + // + optional Identifier trailer_id = 4; + + // The role of the vehicle. + // + optional Role role = 5; + // // \brief The state of the lights of a vehicle. // diff --git a/osi_trafficsign.proto b/osi_trafficsign.proto index 8bc362d72..f15aad856 100644 --- a/osi_trafficsign.proto +++ b/osi_trafficsign.proto @@ -5630,119 +5630,6 @@ message TrafficSign // optional Variability variability = 1; - // 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 - // OpenDRIVE. - // - optional Type type = 2; - - // Additional value(s) associated with the traffic sign, e.g. - // length, mass or starting time in time range. - // - // \note Field need not be set if traffic sign type does not require - // it. - // - // \note OSI uses singular instead of plural for repeated field - // names. - // - repeated TrafficSignValue value = 3; - - // The IDs of the lanes that the sign is assigned to. - // May be multiple if the sign is valid for multiple lanes. - // - // \note OSI uses singular instead of plural for repeated field - // names. - // - // \rules - // refers_to: Lane - // \endrules - // - repeated Identifier assigned_lane_id = 4; - - // This enumerator indicates a traffic actor (e.g. - // 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 - // OpenDRIVE. - // - 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 - // OpenDRIVE. - // - 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. - // - 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 - // OpenDRIVE. - // - // 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.
- // - 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 - // OpenDRIVE. - // - // The year the traffic rules came into force.
- // 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 - // OpenDRIVE. - // - // Code identifier according to country and country revision, - // corresponds to the type field of OpenDRIVE.
- // code is only unique in combination with #country and #country_revision.
- // 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 - // OpenDRIVE. - // - // Sub-code identifier according to country, country revision and code, - // corresponds to the subtype field of OpenDRIVE.
- // sub_code is only unique in combination with #country, #country_revision, - // and #code.
- // e.g. http://www.vzkat.de/2017/VzKat.htm - // - optional string sub_code = 11; - - // Assignment of this object to logical lanes. - // - // \note OSI uses singular instead of plural for repeated field - // names. - // - repeated LogicalLaneAssignment logical_lane_assignment = 12; - // Definition of supplementary sign types. // // For general supplementary signs use \c #TYPE_TEXT. @@ -9175,6 +9062,119 @@ message TrafficSign // After that, manually increment last_counter } + // 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 + // OpenDRIVE. + // + optional Type type = 2; + + // Additional value(s) associated with the traffic sign, e.g. + // length, mass or starting time in time range. + // + // \note Field need not be set if traffic sign type does not require + // it. + // + // \note OSI uses singular instead of plural for repeated field + // names. + // + repeated TrafficSignValue value = 3; + + // The IDs of the lanes that the sign is assigned to. + // May be multiple if the sign is valid for multiple lanes. + // + // \note OSI uses singular instead of plural for repeated field + // names. + // + // \rules + // refers_to: Lane + // \endrules + // + repeated Identifier assigned_lane_id = 4; + + // This enumerator indicates a traffic actor (e.g. + // 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 + // OpenDRIVE. + // + 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 + // OpenDRIVE. + // + 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. + // + 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 + // OpenDRIVE. + // + // 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.
+ // + 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 + // OpenDRIVE. + // + // The year the traffic rules came into force.
+ // 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 + // OpenDRIVE. + // + // Code identifier according to country and country revision, + // corresponds to the type field of OpenDRIVE.
+ // code is only unique in combination with #country and #country_revision.
+ // 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 + // OpenDRIVE. + // + // Sub-code identifier according to country, country revision and code, + // corresponds to the subtype field of OpenDRIVE.
+ // sub_code is only unique in combination with #country, #country_revision, + // and #code.
+ // e.g. http://www.vzkat.de/2017/VzKat.htm + // + optional string sub_code = 11; + + // Assignment of this object to logical lanes. + // + // \note OSI uses singular instead of plural for repeated field + // names. + // + repeated LogicalLaneAssignment logical_lane_assignment = 12; + // Definition of the traffic actors the supplementary sign makes // reference to. E.g. bikes, trucks, cars, etc. // From ba5b394da2c034e3e0f62419f45072260c67a6f7 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Thu, 15 Jun 2023 18:07:33 +0200 Subject: [PATCH 145/164] Add missing project-scope alias for flatbuffers library Signed-off-by: Pierre R. Mai --- CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 4d4334747..8cb07187e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -136,6 +136,7 @@ if(OSI_BUILD_FLATBUFFER) add_custom_target(${PROJECT_NAME}_fbs_build ALL DEPENDS "${FLAT_HEADERS}") add_library(${PROJECT_NAME}_fbs INTERFACE) + add_library(${PROJECT_NAME}::${PROJECT_NAME}_fbs ALIAS ${PROJECT_NAME}_fbs) target_include_directories(${PROJECT_NAME}_fbs INTERFACE $) target_include_directories(${PROJECT_NAME}_fbs SYSTEM INTERFACE $/include>) target_link_libraries(${PROJECT_NAME}_fbs INTERFACE flatbuffers::flatbuffers) From 37740a693fc8258a41c2dd8aa8b360e327a2eac3 Mon Sep 17 00:00:00 2001 From: ClemensLinnhoff Date: Fri, 9 Jun 2023 15:08:44 +0200 Subject: [PATCH 146/164] Added radial_velocity to LidarDetection Signed-off-by: ClemensLinnhoff --- osi_featuredata.proto | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/osi_featuredata.proto b/osi_featuredata.proto index 062370d56..6cb30bee4 100644 --- a/osi_featuredata.proto +++ b/osi_featuredata.proto @@ -454,6 +454,12 @@ message LidarDetection // [1] Rosenberger, P., Holder, M.F., Cianciaruso, N. et al. (2020). Sequential lidar sensor system simulation: a modular approach for simulation-based safety validation of automated driving 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; + + // Radial velocity of the detection positive in direction to the sensor. + // + // Unit: m/s + // + optional double radial_velocity = 12; } // From bfe355ebdc5c32f274d549b54fe5215617efb2df Mon Sep 17 00:00:00 2001 From: Thomas Nader Date: Thu, 23 Feb 2023 13:58:42 +0100 Subject: [PATCH 147/164] Add initial consolidated osi_streaming.proto Interface and message for streaming updates, as discussed and revised in the workshops. Signed-off-by: Thomas Nader --- osi_streaming.proto | 81 +++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 81 insertions(+) create mode 100644 osi_streaming.proto diff --git a/osi_streaming.proto b/osi_streaming.proto new file mode 100644 index 000000000..41352a36f --- /dev/null +++ b/osi_streaming.proto @@ -0,0 +1,81 @@ +syntax = "proto2"; +option optimize_for = SPEED; +import "osi_version.proto"; +import "osi_common.proto"; +import "osi_object.proto"; +import "osi_trafficlight.proto"; +import "osi_hostvehicledata.proto"; + +package osi3; + +// +// \brief This message is about partial updates from simulation entities. +// +// First time message is being sent: +// +// ToDo +// +// Afterwards: +// As streaming update this message contains objects of which at least one +// property has changed. Unchanged properties are nevertheless sent. +// +// +// +message Streaming +{ + // The interface version used by the sender (traffic participant model). + // + optional InterfaceVersion version = 1; + + // The data timestamp where the information of contained objects is calculated. + // + // 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; + + // The list of stationary objects (excluding traffic signs and traffic + // lights). + // + repeated StationaryObject stationary_object_update = 4; + + // \note It is not expected that static fields are populated. If they + // are, they may be ignored by the receiver of this message, for example, dimensions, + // or vehicle category. All dynamic fields should be populated where known, + // for example, velocity, light states, or future trajectory. + // + // ToDo: how to handle trailers? + // \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 moving_object_update = 5; + + // The list of traffic signs. + // + repeated TrafficSign traffic_sign = 6; + + // The list of traffic lights. + // + repeated TrafficLight traffic_light_update = 7; + + // Conditions of the environment. + // + optional EnvironmentalConditions environmental_conditions_update = 12; + + // Host vehicle data. + // + // Host vehicle data is data that the host vehicle knows about itself, + // e.g. from location sensors, internal sensors and ECU bus data, etc., + // that is made available to sensors as input. + // + repeated HostVehicleData host_vehicle_data_update = 29; + + // Entities that will no longer be updated, because they are considered + // obsolete by the sender. + // + // Note: IDs are globally unique. + // + repeated Identifier obsolete_id = 30; +} From 2f4d22d00e8b2793df549b35dac772599f539379 Mon Sep 17 00:00:00 2001 From: Thomas Nader Date: Tue, 16 May 2023 16:29:00 +0200 Subject: [PATCH 148/164] Add architecture png for osi-streaming Signed-off-by: Thomas Nader Signed-off-by: Pierre R. 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Mai --- doc/architecture/architecture_overview.adoc | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 4fadeb8eb..7a980de7e 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -32,6 +32,10 @@ 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] +[#fig-interface-streaming] +.Interface for Streaming +image::{images_open_simulation_interface}/osi-streaming-principle.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. One example would be the `MotionRequest` interface that can be used to communicate the results of the behavior planning to the dynamic model. @@ -48,4 +52,4 @@ 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. NOTE: 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 +No future evolution of OSI will therefore use field numbers equal to or greater than 10000. From f2c837f7f1efe6f15983a9cfcaebbc4d2ccb70a0 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Mon, 22 May 2023 11:33:40 +0200 Subject: [PATCH 150/164] Add StreamingUpdate description Signed-off-by: Thomas Sedlmayer --- ...reaming.proto => osi_streamingupdate.proto | 37 ++++++++----------- 1 file changed, 15 insertions(+), 22 deletions(-) rename osi_streaming.proto => osi_streamingupdate.proto (60%) diff --git a/osi_streaming.proto b/osi_streamingupdate.proto similarity index 60% rename from osi_streaming.proto rename to osi_streamingupdate.proto index 41352a36f..9b4b8bd94 100644 --- a/osi_streaming.proto +++ b/osi_streamingupdate.proto @@ -1,5 +1,7 @@ syntax = "proto2"; + option optimize_for = SPEED; + import "osi_version.proto"; import "osi_common.proto"; import "osi_object.proto"; @@ -9,21 +11,20 @@ import "osi_hostvehicledata.proto"; package osi3; // -// \brief This message is about partial updates from simulation entities. -// -// First time message is being sent: +// \brief The streaming update interface enables simulation entities to send +// partial updates to other modules that favor performance (especially latency) +// over data completeness/consistency (e.g. visualization applications). // -// ToDo +// Static and/or non-relevant objects can be omitted as required for the +// specific use case. Adding an object's unique id to the repeated field \c +// obsolete_id indicates that it will no longer be updated from then on. // -// Afterwards: -// As streaming update this message contains objects of which at least one -// property has changed. Unchanged properties are nevertheless sent. +// \note The receiver of partial streaming update messages can only rely on the +// most up-to-date information at the corresponding timestamp. // -// -// -message Streaming +message StreamingUpdate { - // The interface version used by the sender (traffic participant model). + // The interface version used by the sender. // optional InterfaceVersion version = 1; @@ -40,21 +41,13 @@ message Streaming // repeated StationaryObject stationary_object_update = 4; - // \note It is not expected that static fields are populated. If they - // are, they may be ignored by the receiver of this message, for example, dimensions, - // or vehicle category. All dynamic fields should be populated where known, - // for example, velocity, light states, or future trajectory. - // - // ToDo: how to handle trailers? - // \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. + // The list of moving objects. // repeated MovingObject moving_object_update = 5; // The list of traffic signs. // - repeated TrafficSign traffic_sign = 6; + repeated TrafficSign traffic_sign_update = 6; // The list of traffic lights. // @@ -75,7 +68,7 @@ message Streaming // Entities that will no longer be updated, because they are considered // obsolete by the sender. // - // Note: IDs are globally unique. + // \note IDs are globally unique. // repeated Identifier obsolete_id = 30; } From 103b87349af952e6aaeb1f7db828179a789cefaa Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Mon, 22 May 2023 16:32:10 +0200 Subject: [PATCH 151/164] Add missing imports and order field numbers Signed-off-by: Thomas Sedlmayer --- osi_streamingupdate.proto | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/osi_streamingupdate.proto b/osi_streamingupdate.proto index 9b4b8bd94..a1301bb80 100644 --- a/osi_streamingupdate.proto +++ b/osi_streamingupdate.proto @@ -4,7 +4,9 @@ option optimize_for = SPEED; import "osi_version.proto"; import "osi_common.proto"; +import "osi_environment.proto"; import "osi_object.proto"; +import "osi_trafficsign.proto"; import "osi_trafficlight.proto"; import "osi_hostvehicledata.proto"; @@ -39,23 +41,23 @@ message StreamingUpdate // The list of stationary objects (excluding traffic signs and traffic // lights). // - repeated StationaryObject stationary_object_update = 4; + repeated StationaryObject stationary_object_update = 3; // The list of moving objects. // - repeated MovingObject moving_object_update = 5; + repeated MovingObject moving_object_update = 4; // The list of traffic signs. // - repeated TrafficSign traffic_sign_update = 6; + repeated TrafficSign traffic_sign_update = 5; // The list of traffic lights. // - repeated TrafficLight traffic_light_update = 7; + repeated TrafficLight traffic_light_update = 6; // Conditions of the environment. // - optional EnvironmentalConditions environmental_conditions_update = 12; + optional EnvironmentalConditions environmental_conditions_update = 7; // Host vehicle data. // @@ -63,12 +65,12 @@ message StreamingUpdate // e.g. from location sensors, internal sensors and ECU bus data, etc., // that is made available to sensors as input. // - repeated HostVehicleData host_vehicle_data_update = 29; + repeated HostVehicleData host_vehicle_data_update = 8; // Entities that will no longer be updated, because they are considered // obsolete by the sender. // // \note IDs are globally unique. // - repeated Identifier obsolete_id = 30; + repeated Identifier obsolete_id = 9; } From 31272a2f97941e2d15bd0eee0eec376c7b3d59df Mon Sep 17 00:00:00 2001 From: Thomas Nader Date: Mon, 12 Jun 2023 18:24:33 +0200 Subject: [PATCH 152/164] Clarify host vehicle data ID handling Add description to associate through Host Vehicle Data ID. Signed-off-by: Thomas Nader --- osi_streamingupdate.proto | 2 ++ 1 file changed, 2 insertions(+) diff --git a/osi_streamingupdate.proto b/osi_streamingupdate.proto index a1301bb80..acfa0839e 100644 --- a/osi_streamingupdate.proto +++ b/osi_streamingupdate.proto @@ -65,6 +65,8 @@ message StreamingUpdate // e.g. from location sensors, internal sensors and ECU bus data, etc., // that is made available to sensors as input. // + // The ID inside this message allows an association to moving object data. + // repeated HostVehicleData host_vehicle_data_update = 8; // Entities that will no longer be updated, because they are considered From 05b75311ce9ebe6f481e765ac590a4cf5f1af6d5 Mon Sep 17 00:00:00 2001 From: Thomas Sedlmayer Date: Tue, 13 Jun 2023 14:11:40 +0200 Subject: [PATCH 153/164] Add documentation for StreamingUpdate - Align figure - Add architecture information - Add section to top-level interface Signed-off-by: Thomas Sedlmayer --- doc/architecture/architecture_overview.adoc | 10 ++++++---- doc/architecture/streaming_update.adoc | 10 ++++++++++ doc/images/osi-streaming-principle.PNG | Bin 9723 -> 21033 bytes doc/open-simulation-interface_user_guide.adoc | 2 ++ 4 files changed, 18 insertions(+), 4 deletions(-) create mode 100644 doc/architecture/streaming_update.adoc diff --git a/doc/architecture/architecture_overview.adoc b/doc/architecture/architecture_overview.adoc index 7a980de7e..6ef5b76ee 100644 --- a/doc/architecture/architecture_overview.adoc +++ b/doc/architecture/architecture_overview.adoc @@ -32,14 +32,16 @@ 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] -[#fig-interface-streaming] -.Interface for Streaming -image::{images_open_simulation_interface}/osi-streaming-principle.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. One example would be the `MotionRequest` interface that can be used to communicate the results of the behavior planning to the dynamic model. +The `StreamingUpdate` interface enables partial ground truth updates to modules that favor performance, especially latency, over data completeness/consistency (e.g. visualization applications) or that do not require complete data in the first place (e.g. logging applications). + +[#fig-interface-streaming] +.Interface for partial ground truth updates +image::{images_open_simulation_interface}/osi-streaming-principle.png[1100] + NOTE: OSI uses singular instead of plural for `repeated` field names. NOTE: All fields in an interface are set to `optional`. diff --git a/doc/architecture/streaming_update.adoc b/doc/architecture/streaming_update.adoc new file mode 100644 index 000000000..1bf661948 --- /dev/null +++ b/doc/architecture/streaming_update.adoc @@ -0,0 +1,10 @@ +ifndef::include-only-once[] +:root-path: ../ +include::{root-path}_config.adoc[] +endif::[] += Streaming update + +The `StreamingUpdate` message provides an interface to transmit a subset of ground truth and/or vehicle internal data. +This interface mainly addresses applications with low latency requirements and no need for highly consistent and complete data, e.g. visualization applications. +Static and/or non-relevant objects can be omitted as required for the specific use case. +Note that the receiver of partial updates can only rely on the most up-to-date information at the corresponding timestamp. 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From: Thomas Sedlmayer Date: Thu, 15 Jun 2023 11:25:05 +0200 Subject: [PATCH 154/164] Add example to the note of StreamingUpdate Signed-off-by: Thomas Sedlmayer --- osi_streamingupdate.proto | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/osi_streamingupdate.proto b/osi_streamingupdate.proto index acfa0839e..b1ad1121a 100644 --- a/osi_streamingupdate.proto +++ b/osi_streamingupdate.proto @@ -22,7 +22,9 @@ package osi3; // obsolete_id indicates that it will no longer be updated from then on. // // \note The receiver of partial streaming update messages can only rely on the -// most up-to-date information at the corresponding timestamp. +// most up-to-date information at the corresponding timestamp. E.g. omitting +// objects does not indicate static behaviour but it may be sufficient for the +// use case to update certain objects at a later point in time. // message StreamingUpdate { From 9f9536fc77afedb2ed660153fe60bce29e10d3a0 Mon Sep 17 00:00:00 2001 From: "Pierre R. Mai" Date: Wed, 21 Jun 2023 12:25:54 +0200 Subject: [PATCH 155/164] Add to build infrastructure Signed-off-by: Pierre R. Mai --- CMakeLists.txt | 1 + setup.py | 1 + 2 files changed, 2 insertions(+) diff --git a/CMakeLists.txt b/CMakeLists.txt index 8cb07187e..dc99bbadb 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -94,6 +94,7 @@ set(OSI_PROTO_FILES osi_sensorviewconfiguration.proto osi_sensorspecific.proto osi_sensorview.proto + osi_streamingupdate.proto ) protobuf_generate_cpp(PROTO_SRCS PROTO_HEADERS ${OSI_PROTO_FILES}) diff --git a/setup.py b/setup.py index 22b179acc..435207aeb 100644 --- a/setup.py +++ b/setup.py @@ -69,6 +69,7 @@ def find_protoc(): 'osi_sensorspecific.proto', 'osi_sensorview.proto', 'osi_sensorviewconfiguration.proto', + 'osi_streamingupdate.proto', 'osi_trafficcommand.proto', 'osi_trafficcommandupdate.proto', 'osi_trafficlight.proto', From 7084da01f1c4891f5d6baa02a43cc7aad471a52b Mon Sep 17 00:00:00 2001 From: Jakob Peintner Date: Fri, 10 Feb 2023 15:42:24 +0100 Subject: [PATCH 156/164] Add initial pedestrian description Signed-off-by: Jakob Peintner --- 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