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ThomasNaderBMWNader Thomas
ThomasNaderBMW
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Nader Thomas
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Update osi_hostvehicledata.proto
Some improvements regarding architectural issues and out of definition reasons. Signed-off-by: Nader Thomas <a442105@europe.bmw.corp>
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‎osi_hostvehicledata.proto‎

Lines changed: 112 additions & 78 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@ syntax = "proto2";
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option optimize_for = SPEED;
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5+
import "osi_version.proto";
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import "osi_common.proto";
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import "osi_object.proto";
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@@ -32,47 +33,75 @@ message HostVehicleData
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// \note Note that dimension and base_polygon need not be set.
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//
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optional BaseMoving location_rmse = 2;
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// The interface version used by the sender (i.e. the simulation
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// environment).
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//
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optional InterfaceVersion version = 3;
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42+
// The data timestamp of the simulation environment. The zero time point is
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// arbitrary but must be identical for all messages.
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// Recommendation: Zero time point for start point of the simulation.
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//
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// \note Zero time point does not need to coincide with the UNIX epoch.
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//
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// \note For ground truth data this timestamp coincides both with the
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// notional simulation time the data applies to and the time it was sent
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// (there is no inherent latency for ground truth data, as opposed to
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// sensor data).
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//
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optional Timestamp timestamp = 4;
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// Contains all the perceivable information.
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//
38-
optional MovingObject moving_object = 3;
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optional MovingObject moving_object = 5;
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40-
// Contains all the non-perceivable information.
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// Contains all the non-perceivable information, that is measured or
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// calculated and transported by the board net.
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//
42-
optional HostVehicleDataClass host_vehicle_data = 4;
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optional HostVehicleDataClass host_vehicle_data = 6;
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}
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//
46-
// \brief The vehicle-class is a deeper description of a vehicle about the non-perceivable information.
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// \brief The vehicle-class is about the non-perceivable information, that is measured or
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// calculated and transported by the board net.
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// It consists of different messages categorizing the vehicle in:
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// Vehicle-Basics, Vehicle-Powermanagement, Vehicle-Powertrain, Vehicle-SteeringWheel, Vehicle-Wheels, Vehicle-Localization.
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// As it is an description of the whole vehicle (focus on cars) it can be used as interface for various reasons.
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//
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message HostVehicleDataClass
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{
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// The ID of the object.
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//
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// \rules
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// is_globally_unique
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// \endrules
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//
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optional Identifier id = 1;
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// The basic parameters of the vehicle.
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//
55-
optional VehicleBasics vehicle_basics = 1;
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optional VehicleBasics vehicle_basics = 2;
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// Interface regarding the powermanagement.
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//
59-
optional VehiclePowermanagement vehicle_powermanagement = 2;
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optional VehiclePowermanagement vehicle_powermanagement = 3;
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// Interface regarding the powertrain.
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//
63-
optional VehiclePowertrain vehicle_powertrain = 3;
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optional VehiclePowertrain vehicle_powertrain = 4;
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// Interface regarding the steering wheel.
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//
67-
optional VehicleSteeringWheel vehicle_steering_wheel = 4;
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optional VehicleSteeringWheel vehicle_steering_wheel = 5;
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// Interface regarding the wheels.
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//
71-
optional VehicleWheels vehicle_wheels = 5;
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optional VehicleWheels vehicle_wheels = 6;
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// Interface regarding the navigation.
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//
75-
optional VehicleLocalization vehicle_localization = 6;
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optional VehicleLocalization vehicle_localization = 7;
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//
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// \brief The absolute base parameters of the vehicle.
@@ -107,22 +136,10 @@ message HostVehicleDataClass
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//
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optional Pedalry pedalry = 1;
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110-
// Rounds per minute of the engine. RPM can be from E-Motor/ Engine.
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//
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// Unit: 1/min
113-
//
114-
optional double motor_rpm = 2;
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// Torque in Nm. It can either be from Engine/E-Motor or combined Torque values.
117-
//
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// Unit: N*m
119-
//
120-
optional double motor_torque = 3;
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// The actual gear of the gear lever.
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// May come up later. For now just to be mentioned.
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//
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// optional GearLeverState gear_lever_state = 4;
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// optional GearLeverState gear_lever_state = 2;
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// The actual gear of the transmission.
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// E.g. gear_lever can be in "D" and transmission in "4", but not the
@@ -134,7 +151,11 @@ message HostVehicleDataClass
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// - negative: reverse mode (generally -1, but few vehicles have several
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// reverse mode gears)
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//
137-
optional int32 gear_transmission = 5;
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optional int32 gear_transmission = 3;
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// Information about the motor(s).
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//
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repeated Motor motor = 4;
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//
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// \brief A description for the positions of the pedals.
@@ -156,6 +177,52 @@ message HostVehicleDataClass
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//
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optional double pedal_position_clutch = 3;
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}
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//
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// \brief A description for the positions of the pedals.
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//
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message Motor
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{
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// The type of the motor.
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//
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optional Type type = 1;
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// Rounds per minute of the engine. RPM can be from E-Motor/ Engine.
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//
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// Unit: 1/min
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//
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optional double rpm = 2;
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// Torque in Nm. It can either be from Engine/E-Motor or combined Torque values.
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//
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// Unit: N*m
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//
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optional double torque = 3;
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// Definition which type of motor is used.
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//
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enum Type
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{
206+
// The powertrain mode is unknown.
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//
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TYPE_UNKNOWN = 0;
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// It is another powertrain mode.
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//
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TYPE_OTHER = 1;
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// A motor working after the principle of Nicolaus Otto.
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//
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TYPE_OTTO = 2;
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// A motor working after the principle of Rudolf Diesel.
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//
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TYPE_DIESEL = 3;
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// A motor working electric.
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//
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TYPE_ELEKTRIC = 4;
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}
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}
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//
@@ -200,9 +267,19 @@ message HostVehicleDataClass
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//
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message Wheel
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{
203-
// Information about how the wheel is arranged.
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// The axle which contains this wheel. A value of 0 represents the
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// front-most axle of the vehicle with higher numbers incrementing
272+
// towards the rear-most axle.
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//
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optional uint32 axle = 1;
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// The index of the wheel on the axle, counting in the direction
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// of positive-y, i.e. right-to-left.
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//
279+
// For example, on a standard 2-axle, 4-wheel car, the rear-right
280+
// wheel would be (axle=1, index=0).
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//
205-
optional Arrangement arrangement = 1;
282+
optional uint32 index = 2;
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207284
// Dry friction is a force that opposes the relative lateral motion of two solid surfaces
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// in contact. It is subdivided into static friction between non-moving surfaces and kinetic
@@ -215,72 +292,28 @@ message HostVehicleDataClass
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// \par References:
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// - http://adaptivemap.ma.psu.edu/websites/6_friction/dry_friction/dryfriction.html
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//
218-
optional double kinetic_friction_coefficient = 2;
295+
optional double kinetic_friction_coefficient = 3;
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220297
// Contact point of the mid of the tire tread with the world.
221298
// Absolute coordinates (x, y, z).
222299
//
223300
// Unit: m
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//
225-
optional Vector3d contact_point = 3;
302+
optional Vector3d contact_point = 4;
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227304
// Contains the rotational speed of each wheel per second.
228305
//
229306
// Unit: rad/s
230307
//
231-
optional double rotational_speed = 4;
232-
233-
// Contains the steering angle of each wheel.
234-
// Right < 0; 0 = straight; 0 < left.
235-
//
236-
// Unit: rad
237-
//
238-
optional double steering_angle = 5;
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240-
// Contains the relativ position of the center of the wheel to the center of the bounding-box.
241-
// Possibility to get the spring deflection and the camber (https://en.wikipedia.org/wiki/Camber_angle).
242-
//
243-
// Unit: m
244-
//
245-
optional MountingPosition position = 6;
308+
optional double rotational_speed = 5;
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247310
// Contains the longitudinal slip of the tire.
248311
// \par References:
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// - https://www.kfz-tech.de/Biblio/Formelsammlung/Schlupf.htm
250313
//
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// Unit: %
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//
253-
optional double slip = 7;
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255-
// Information about how the wheel is arranged.
256-
//
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enum Arrangement
258-
{
259-
// The description is about a wheel that has an unknown arrangement.
260-
//
261-
ARRANGEMENT_UNKNOWN = 0;
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263-
// The description is about a wheel that has another arrangement (e.g. more than four wheels).
264-
//
265-
ARRANGEMENT_OTHER = 1;
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267-
// Arragement of the wheels in counter clock-wise direction starting from front-left wheel.
268-
// The description is about the front-left wheel.
269-
//
270-
ARRANGEMENT_FRONT_LEFT = 2;
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272-
// The description is about the rear-left wheel.
273-
//
274-
ARRANGEMENT_REAR_LEFT = 3;
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276-
// The description is about the rear-right wheel.
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//
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ARRANGEMENT_FRONT_RIGHT = 4;
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280-
// The description is about the front-right wheel.
281-
//
282-
ARRANGEMENT_REAR_RIGHT = 5;
283-
}
316+
optional double slip = 6;
284317
}
285318
}
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@@ -292,16 +325,17 @@ message HostVehicleDataClass
292325
//
293326
// \brief This message contains information about the vehicle's knowledge about its own cartesian position.
294327
//
295-
message CartesianPosition
328+
message CartesianInformation
296329
{
297330
// To be discussed.
298-
//
331+
// xyz, pitch,roll,yaw., velocities, accelerations, one level higher
332+
optional BaseMoving cartesian_data
299333
}
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301335
//
302336
// \brief This message contains information about the vehicle's georeferenced positioning solution component.
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//
304-
message GeoreferencedPosition
338+
message GeoreferencedInformation
305339
{
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// Longitude in decimal degrees regarding WGS84.
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//
@@ -321,7 +355,7 @@ message HostVehicleDataClass
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//
322356
optional double altitude = 3;
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324-
// To be discussed:
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// To be discussed as it is in CartesianInformation.
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// Heading in decimal degrees.
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//
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// Unit: Degree

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