#550 Merge latest master branch from upstream

Signed-off-by: Martin Stump <11492152+globberwops@users.noreply.github.com>

Author: globberwops

.gitignore

@@ -4,6 +4,7 @@ dist/
 doc/html
 doc/latex
 osi/
+osi3/
 
 # Specific extensions
 *.egg-info
@@ -20,6 +21,7 @@ cmake_install.cmake
 install_manifest.txt
 osi_version.proto
 version.py
+pyproject.toml
 
 compile_commands.json
 

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "asciidoc-resources"]
+	path = asciidoc-resources
+	url = https://code.asam.net/simulation/asciidoc-resources.git
+[submodule "flatbuffers"]
+	path = flatbuffers
+	url = https://github.com/google/flatbuffers.git

CMakeLists.txt

@@ -5,6 +5,9 @@ project(open_simulation_interface)
 # set default compiler
 set(CMAKE_CXX_STANDARD 11)
 
+# Optional Flatbuffer support
+set(BUILD_FLATBUFFER OFF CACHE BOOLEAN "Build flatbuffer versions of libraries")
+
 # Set a default build type if none was specified
 set(default_build_type "Release")
 if(EXISTS "${CMAKE_SOURCE_DIR}/.git")
@@ -83,6 +86,48 @@ set(OSI_PROTO_FILES
 )
 
 protobuf_generate_cpp(PROTO_SRCS PROTO_HEADERS ${OSI_PROTO_FILES})
+set(FLAT_HEADERS "")
+if(BUILD_FLATBUFFER)
+  set(FLAT_FBS "")
+  add_subdirectory("flatbuffers"
+                   ${CMAKE_CURRENT_BINARY_DIR}/flatbuffers-build
+                   EXCLUDE_FROM_ALL)
+  file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/descriptor.fbs" "namespace osi3;")
+  file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/include")
+  list(APPEND FLAT_FBS "${CMAKE_CURRENT_BINARY_DIR}/descriptor.fbs")
+  foreach (proto ${OSI_PROTO_FILES})
+    get_filename_component(proto_base ${proto} NAME_WE)
+    set(fbs "${proto_base}.fbs")
+    add_custom_command(
+      OUTPUT "${fbs}"
+      COMMAND $<TARGET_FILE:flatc> -I "${PROTOBUF_IMPORT_DIRS}" -o "${CMAKE_CURRENT_BINARY_DIR}" --proto "${CMAKE_CURRENT_SOURCE_DIR}/${proto}"
+      DEPENDS "${proto}" flatc
+      WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+      COMMENT "Convert ${proto} to ${fbs} using flatc"
+    )
+    list(APPEND FLAT_FBS "${CMAKE_CURRENT_BINARY_DIR}/${fbs}")
+  endforeach()
+
+  foreach (flat ${FLAT_FBS})
+    get_filename_component(flat_base ${flat} NAME_WE)
+    set(fbs "${flat_base}.fbs")
+    set(fbh "${flat_base}_generated.h")
+    add_custom_command(
+      OUTPUT "include/${fbh}"
+      COMMAND $<TARGET_FILE:flatc> -o "${CMAKE_CURRENT_BINARY_DIR}/include" --cpp --gen-mutable --gen-name-strings --scoped-enums "${fbs}"
+      DEPENDS "${FLAT_FBS}" flatc
+      WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
+      COMMENT "Process ${fbs} to ${fbh} using flatc"
+    )
+    list(APPEND FLAT_HEADERS "${CMAKE_CURRENT_BINARY_DIR}/include/${fbh}")
+  endforeach()
+
+  add_custom_target(${PROJECT_NAME}_fbs_build ALL DEPENDS "${FLAT_HEADERS}")
+  add_library(${PROJECT_NAME}_fbs INTERFACE)
+  target_include_directories(${PROJECT_NAME}_fbs INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include/>)
+  target_include_directories(${PROJECT_NAME}_fbs SYSTEM INTERFACE $<INSTALL_INTERFACE:$<INSTALL_PREFIX>/include>)
+  target_link_libraries(${PROJECT_NAME}_fbs INTERFACE flatbuffers)
+endif()
 
 add_library(${PROJECT_NAME}_static STATIC ${PROTO_SRCS} ${PROTO_HEADERS})
 add_library(${PROJECT_NAME}::${PROJECT_NAME}_static ALIAS ${PROJECT_NAME}_static)
@@ -185,7 +230,7 @@ install(FILES
     COMPONENT dev)
 
 # Header files
-install(FILES ${PROTO_HEADERS}
+install(FILES ${PROTO_HEADERS} ${FLAT_HEADERS}
         DESTINATION "${OSI_INSTALL_INCLUDE_DIR}")
 
 # Install the export set for use with the install-tree

asciidoc-resources

@@ -0,0 +1,41 @@
+= Overview of OSI architecture
+
+OSI contains an object-based environment description that uses the message format of the https://github.com/protocolbuffers/protobuf/wiki[Protocol Buffer] library.
+The Protocol Buffer library was developed and is maintained by Google.
+OSI defines top-level messages that are used to exchange data between separate models.
+Top-level messages define the `GroundTruth` interface, the `SensorData` interface, and – since OSI version 3.0.0 – the interfaces `SensorView`, `SensorViewConfiguration`, and `FeatureData`.
+
+The following figure shows the interfaces and models involved in modeling a sensor.
+
+.Open Simulation Interface overview
+image::{images_open_simulation_interface}/osi-context.png[1100]
+
+
+OSI also defines interfaces for traffic participant models.
+The `TrafficCommand` interface makes it possible to send commands to traffic participant models.
+The `TrafficUpdate` interface makes it possible to receive the updated state from traffic participant models.
+The following figure shows the interfaces of a generic traffic participant.
+
+.Interface of a traffic participant
+image::{images_open_simulation_interface}/osi-traffic-participant-principle.png[1100]
+
+Traffic participant models may use other OSI interfaces internally, for example, to model autonomous vehicles.
+The following figure shows a more advanced use case for traffic participants.
+
+.Traffic participant with sensor models, AD function, and dynamic model
+image::{images_open_simulation_interface}/osi-traffic-participant-advanced.png[1100]
+
+The `HostVehicleData` interface describes the measured internal states of a traffic participant.
+OSI currently provides only limited support for data structures that describe measured internal states of traffic participants.
+Actuator intentions are currently not covered by OSI and must be handled with a different data description format.
+
+All fields in an interface are set to `optional`.
+`required` is not used.
+This has been done to allow backward-compatible changes in the field.
+Additionally, this is the default behavior in Protocol Buffer version 3 that does no longer have the `required` type.
+Setting all fields to `optional` thus ensures update compatibility.
+However, this does not mean that filling the field is optional.
+For the purpose of providing a complete interface, all existing fields should be set, unless not setting a field carries a specific meaning as indicated in the accompanying comment.
+
+All field numbers equal to or greater than 10000 are available for user-specific extensions via custom fields.
+Therefore, no future evolution of OSI will use field numbers equal to or greater than 10000.

doc/architecture/architecture_overview.adoc

@@ -0,0 +1,14 @@
+= Data layer
+
+The data layer of OSI is defined in the message specifications using the ProtoBuf IDL.
+It defines the data that can be transmitted using OSI, including the structure and the semantics of the data.
+
+Additionally, it specifies the encoding to be used when OSI data is transmitted.
+Currently, ProtoBuf encoding is used, but other encodings are possible with the ProtoBuf IDL.
+FlatBuffer encoding has been implemented as an experimental feature.
+
+The data layer does not directly define components and transmission routes.
+These are defined in the packaging layer of OSI.
+There may be different packaging layer implementations using the shared data layer definitions.
+The data that is exchanged remains compatible regardless of the packaging layer implementation.
+The use of a shared data layer ensures easy bridging between different packaging layer implementations.

doc/architecture/data_layer.adoc

@@ -0,0 +1,9 @@
+= Environmental effect model
+
+Environmental effect models consume sensor-view messages and produce sensor-view messages.
+Environmental effect models may, for example, alter sensor-view messages to include effects and phenomena caused by:
+
+* Shadows and occlusions
+* Weather effects
+* Physics of a sensor
+* Pre-processing of raw sensor data

doc/architecture/environmental_effect_model.adoc

@@ -0,0 +1,5 @@
+= Feature data
+
+Feature-data messages contain detected features in the reference frame of a sensor.
+Feature-data messages are generated from ground-truth messages.
+They serve, for example, as input to sensor models simulating object detection or feature fusion models.

doc/architecture/feature_data.adoc

@@ -0,0 +1,52 @@
+= Trace-file formatting scripts
+
+The OSI repository contains Python scripts for converting trace files from one format to the other.
+The formatting scripts are stored in `open-simulation-interface/format/`
+
+**txt2osi.py**
+
+`txt2osi.py` converts plain-text trace files to binary `.osi` trace files.
+This script takes the following parameters:
+
+`--data`, `-d`::
+String containing the path to the file with serialized data.
+
+`--type`, `-t`::
+Optional string describing the message type used to serialize data.
+Allowed values are `'SensorView'`, `'GroundTruth'`, or `'SensorData'`.
+The default value is `'SensorView'`.
+
+`--output`, `-o`::
+Optional string containing the name of the output file.
+The default value is `'converted.osi'`.
+
+`--compress`, `-c`::
+Optional boolean controlling whether to compress the output to a lzma file.
+Allowed values are `True`, or `False`.
+The default value is `False`.
+
+**osi2read.py**
+
+`osi2read.py` converts trace files to human-readable `.txth` trace files.
+This script takes the following parameters:
+
+`--data`, `-d`::
+String containing the path to the file with serialized data.
+
+`--type`, `-t`::
+Optional string describing the message type used to serialize data.
+Allowed values are `'SensorView'`, `'GroundTruth'`, or `'SensorData'`.
+The default value is `'SensorView'`.
+
+`--output`, `-o`::
+Optional string containing the name of the output file.
+The default value is `'converted.txth'`.
+
+`--format`, `-f`::
+Optional string containing the format type of the trace file.
+Allowed values are `'separated'`, or `None`.
+The default value is `None`.
+
+**Related topics**
+
+* <<#top-1a2f4b0c-195c-4f18-89ad-d48a123bd8c1>>[OSI trace file formats]

doc/architecture/formatting_scripts.adoc

@@ -0,0 +1,5 @@
+= Ground truth
+
+Ground-truth messages describe the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances.
+It is based on data available to the simulation environment.
+Typically, ground-truth messages are contained in sensor view messages.