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Merge branch 'master' into 820-ide-not-recognizing-osi-classes-in-python
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‎.github/pull_request_template.md

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@@ -13,8 +13,8 @@ How has it been tested?
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#### Take this checklist as orientation for yourself, if this PR is ready for the Change Control Board:
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- [ ] My suggestion follows the [style and contributors guidelines](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/specification/contributing/start_contributing.html).
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- [ ] 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).
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- [ ] I have done the [DCO signoff](https://opensimulationinterface.github.io/osi-documentation/open-simulation-interface/doc/howtocontribute.html#developer-certification-of-origin-dco).
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- [ ] My changes generate no errors when passing CI tests.
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- [ ] I have done the [DCO signoff](https://opensimulationinterface.github.io/osi-antora-generator/asamosi/latest/specification/contributing/dco.html).
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- [ ] My changes generate no errors when passing CI tests.
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- [ ] I have successfully implemented and tested my fix/feature locally.
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- [ ] Appropriate reviewer(s) are assigned.
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‎.github/workflows/protobuf.yml

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- name: Get git Version
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id: get_version
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run: echo "VERSION=$(git describe --tags --always)" >> $GITHUB_OUTPUT
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run: echo "VERSION=$(git describe --tags --always)" >> $GITHUB_OUTPUT
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- name: Prepare Documentation Build
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run: |
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- name: Run Python Tests
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run: python -m unittest discover tests
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- name: Archive Documentation
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if: ${{ github.event_name == 'pull_request' }}
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uses: actions/upload-artifact@v4
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with:
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name: linux64-doc
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path: doc/html
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if-no-files-found: error
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- name: Upload Python Distribution
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if: ${{ github.event_name == 'pull_request' || ( github.event_name == 'push' && ( github.ref == 'refs/heads/master' || startsWith(github.ref, 'refs/tags/v') ) ) }}
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uses: actions/upload-artifact@v4
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with:
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name: python-dist
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path: dist/
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- name: Deploy to gh-pages if push to master branch
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if: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' }}
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uses: peaceiris/actions-gh-pages@v3
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with:
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github_token: ${{ secrets.GITHUB_TOKEN }}
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publish_dir: ./doc/html
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build-proto3-linux64:
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name: Build Proto3 Linux 64
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- name: Publish Snapshot Release on TestPyPI
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uses: pypa/gh-action-pypi-publish@release/v1
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continue-on-error: true
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with:
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repository-url: https://test.pypi.org/legacy/
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- name: Publish Full Release on PyPI
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if: startsWith(github.ref, 'refs/tags/v')
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if: startsWith(github.ref, 'refs/tags/v') && ( ! contains(github.ref, '-') )
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uses: pypa/gh-action-pypi-publish@release/v1

‎.github/workflows/pypi-pub-manual.yml

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name: Manual Python PyPI Release Publishing
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env:
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PROTOBUF_VERSION: 3.20.1
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PROTOBUF_VARIANT: '-all' # Use '-all' prior to 22.0, '' after
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ABSEIL_VERSION: 20230802.1
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on:
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workflow_dispatch:
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inputs:
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tag:
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description: 'Tag to publish'
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required: true
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type: string
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jobs:
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build-proto2-linux64:
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name: Build Proto2 Linux 64
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runs-on: ubuntu-22.04
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steps:
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- name: Checkout OSI
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uses: actions/checkout@v4
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with:
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ref: ${{ format('refs/tags/{0}', inputs.tag) }}
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submodules: true
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- name: Check Build Setup
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run: |
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( result=0 ; for f in *.proto ; do grep -wq "$f" CMakeLists.txt || { echo "Missing $f in CMakeLists.txt" && let "result++"; } ; done ; exit $result )
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( result=0 ; for f in *.proto ; do grep -q '"'$f'"' setup.py || { echo "Missing $f in setup.py" && let "result++"; } ; done ; exit $result )
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- name: Setup Python
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uses: actions/setup-python@v5
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with:
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python-version: '3.8'
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- name: Install Python Dependencies
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run: |
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python -m pip install --upgrade pip
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python -m pip install build
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python -m pip install -r requirements_tests.txt
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- name: Install Doxygen
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run: sudo apt-get install doxygen graphviz
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- name: Cache Dependencies
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id: cache-depends
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uses: actions/cache@v4
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with:
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path: protobuf-${{ env.PROTOBUF_VERSION }}
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key: ${{ runner.os }}-v2-depends
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- name: Download ProtoBuf ${{ env.PROTOBUF_VERSION }}
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if: steps.cache-depends.outputs.cache-hit != 'true'
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run: curl -OL https://github.com/protocolbuffers/protobuf/releases/download/v${{env.PROTOBUF_VERSION}}/protobuf${{env.PROTOBUF_VARIANT}}-${{env.PROTOBUF_VERSION}}.tar.gz && tar xzvf protobuf${{env.PROTOBUF_VARIANT}}-${{env.PROTOBUF_VERSION}}.tar.gz
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- name: Download Abseil ${{ env.ABSEIL_VERSION }}
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if: steps.cache-depends.outputs.cache-hit != 'true' && env.PROTOBUF_VARIANT == ''
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run: curl -OL https://github.com/abseil/abseil-cpp/archive/refs/tags/${{env.ABSEIL_VERSION}}.tar.gz && tar xzvf ${{env.ABSEIL_VERSION}}.tar.gz && rm -rf protobuf-${{env.PROTOBUF_VERSION}}/third_party/abseil-cpp && mv abseil-cpp-${{env.ABSEIL_VERSION}} protobuf-${{env.PROTOBUF_VERSION}}/third_party/abseil-cpp
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- name: Build ProtoBuf ${{ env.PROTOBUF_VERSION }} via autotools
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if: steps.cache-depends.outputs.cache-hit != 'true' && env.PROTOBUF_VARIANT == '-all'
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working-directory: protobuf-${{ env.PROTOBUF_VERSION }}
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run: ./configure DIST_LANG=cpp --prefix=/usr && make
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- name: Build ProtoBuf ${{ env.PROTOBUF_VERSION }} via cmake
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if: steps.cache-depends.outputs.cache-hit != 'true' && env.PROTOBUF_VARIANT == ''
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working-directory: protobuf-${{ env.PROTOBUF_VERSION }}
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run: cmake -DCMAKE_CXX_STANDARD=17 -Dprotobuf_BUILD_SHARED_LIBS=ON -Dprotobuf_BUILD_TESTS=OFF . && cmake --build . --config Release -j 4
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- name: Install ProtoBuf ${{ env.PROTOBUF_VERSION }}
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working-directory: protobuf-${{ env.PROTOBUF_VERSION }}
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run: sudo make install && sudo ldconfig
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- name: Install proto2cpp
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run: git clone --depth 1 https://github.com/OpenSimulationInterface/proto2cpp.git
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- name: Prepare C++ Build
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run: mkdir build
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- name: Get git Version
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id: get_version
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run: echo "VERSION=$(git describe --tags --always)" >> $GITHUB_OUTPUT
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- name: Prepare Documentation Build
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run: |
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sed -i 's/PROJECT_NUMBER\s*= @VERSION_MAJOR@.@VERSION_MINOR@.@VERSION_PATCH@/PROJECT_NUMBER = master (${{ steps.get_version.outputs.VERSION }})/g' doxygen_config.cmake.in
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echo "EXCLUDE_PATTERNS = */osi3/* */protobuf-*/* */proto2cpp/* */flatbuffers/*" >> doxygen_config.cmake.in
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echo "GENERATE_TREEVIEW = YES" >> doxygen_config.cmake.in
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- name: Configure C++ Build
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working-directory: build
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run: cmake -D FILTER_PROTO2CPP_PY_PATH=$GITHUB_WORKSPACE/proto2cpp ${{ env.PROTOBUF_VARIANT =='' && '-DCMAKE_CXX_STANDARD=17' }} ..
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- name: Build C++
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working-directory: build
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run: cmake --build . --config Release -j 4
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- name: Build Python
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run: python -m build
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- name: Install Python
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run: python -m pip install .
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- name: Run Python Tests
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run: python -m unittest discover tests
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- name: Upload Python Distribution
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uses: actions/upload-artifact@v4
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with:
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name: python-dist
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path: dist/
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publish-python-dist:
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name: Publish Python Distribution
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runs-on: ubuntu-22.04
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permissions:
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id-token: write
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needs: [build-proto2-linux64]
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steps:
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- name: Download Distribution
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uses: actions/download-artifact@v4
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with:
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name: python-dist
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path: dist/
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- name: Publish Snapshot Release on TestPyPI
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uses: pypa/gh-action-pypi-publish@release/v1
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continue-on-error: true
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with:
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repository-url: https://test.pypi.org/legacy/
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- name: Publish Full Release on PyPI
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uses: pypa/gh-action-pypi-publish@release/v1

‎doc/architecture/architecture_overview.adoc

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endif::[]
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= Overview of OSI architecture
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OSI contains an object-based environment description that uses the message format of the https://github.com/protocolbuffers/protobuf/wiki[Protocol Buffer] library.
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Google developed and maintains the Protocol Buffer library.
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OSI contains an object-based environment description that uses the message format of the https://github.com/protocolbuffers/protobuf/wiki[Protocol Buffer^] library developed by Google.
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OSI defines top-level messages that are used to exchange data between separate models.
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Top-level messages define the `GroundTruth` interface, the `SensorData` interface, and – since OSI version 3.0.0 – the interfaces `SensorView` and `SensorViewConfiguration`.
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Further top-level messages that were added in later versions of OSI are `TrafficCommand`, `TrafficUpdate`, `MotionRequest`, and `StreamingUpdate`.
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Top-level messages define the following interfaces:
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- xref:architecture/ground_truth.adoc[`GroundTruth`]
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- xref:architecture/sensor_data.adoc[`SensorData`]
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- xref:architecture/sensor_view.adoc[`SensorView`]
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- xref:architecture/sensor_view_configuration.adoc[`SensorViewConfiguration`]
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- xref:architecture/host_vehicle_data.adoc[`HostVehicleData`]
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- xref:architecture/traffic_command.adoc[`TrafficCommand`]
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- xref:architecture/traffic_command_update.adoc[`TrafficCommandUpdate`]
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- xref:architecture/traffic_update.adoc[`TrafficUpdate`]
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- xref:architecture/motion_request.adoc[`MotionRequest`]
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- xref:architecture/streaming_update.adoc[`StreamingUpdate`].
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The following figure shows the interfaces and models involved in modeling a sensor.
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‎doc/architecture/ground_truth.adoc

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`GroundTruth` messages describe the simulated environment containing all simulated objects in the global coordinate system at consecutive time instances.
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They are based on data available to the simulation environment.
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`GroundTruth` messages are typically contained in `Sensorview` messages.
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`GroundTruth` messages are typically contained in `Sensorview` messages.
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For more details, see xref:gen:structosi3_1_1GroundTruth.adoc[].

‎doc/architecture/host_vehicle_data.adoc

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ifndef::include-only-once[]
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:root-path: ../
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include::{root-path}_config.adoc[]
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endif::[]
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= Host vehicle data
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The `HostVehicleData` message targets the perception of the vehicle of its own internal states.
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It captures the knowledge the vehicle has internally, which can differ from the actual or global truth for various reasons.
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This message can also be understood as an interface container for the signals of a rest bus simulation.
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For more details, see xref:gen:structosi3_1_1HostVehicleData.adoc[].

‎doc/architecture/motion_request.adoc

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= Motion Request
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`MotionRequest` messages are traffic participant internal messages.
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They function as a interface between a motion/behavior planning model and a dynamics model including, for example, controllers and vehicle kinematics.
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They function as a interface between a motion/behavior planning model and a dynamics model including, for example, controllers and vehicle kinematics.
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For more details, see xref:gen:structosi3_1_1MotionRequest.adoc[].

‎doc/architecture/sensor_data.adoc

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`SensorData` messages include `FeatureData` messages which contain detected features in the reference frame of a sensor.
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`FeatureData` messages are generated from `GroundTruth` messages.
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They serve, for example, as an input to sensor models simulating object detection or feature fusion models.
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For more details, see xref:gen:structosi3_1_1SensorData.adoc[].

‎doc/architecture/sensor_view.adoc

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* Physical technology-specific data, given with respect to the physical sensor coordinate system specified in the corresponding physical sensor's mounting position.
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One example of technology-specific data is: xref:gen:structosi3_1_1CameraSensorView.adoc#ac58456a34babf78792ea2608eb963f36[`image_data` of `osi3::CameraSensorView`]
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* Ground truth given in the global coordinate system.
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* Ground truth given in the global coordinate system.
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For more details, see xref:gen:structosi3_1_1SensorView.adoc[].

‎doc/architecture/sensor_view_configuration.adoc

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The packaging layer defines the specifics of this auto-negotiation mechanism.
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After the initialization phase, the environment simulation provides the actual sensor-view configuration as part of each `SensorView` message.
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After the initialization phase, the environment simulation provides the actual sensor-view configuration as part of each `SensorView` message.
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For more details, see xref:gen:structosi3_1_1SensorViewConfiguration.adoc[].

‎doc/architecture/streaming_update.adoc

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The `StreamingUpdate` message provides an interface to transmit a subset of ground truth and/or vehicle internal data.
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This interface mainly addresses applications with low latency requirements and no need for highly consistent and complete data, e.g. visualization applications.
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Static and/or non-relevant objects can be omitted as required for the specific use case.
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Note that the receiver of partial updates can only rely on the 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.
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Note that the receiver of partial updates can only rely on the most up-to-date information at the corresponding timestamp. E.g. omitting objects does not indicate static behavior but it may be sufficient for the use case to update certain objects at a later point in time.
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For more details, see xref:gen:structosi3_1_1StreamingUpdate.adoc[].

‎doc/architecture/trace_file_naming.adoc

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**Types**
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17-
`sd`::
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Trace file contains `SensorData` messages.
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2017
`sv`::
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Trace file contains `SensorView` messages.
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20+
`svc`::
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Trace file contains `SensorViewConfiguration` messages.
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`gt`::
2424
Trace file contains `GroundTruth` messages.
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26-
`tu`::
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Trace file contains `TrafficUpdate` messages.
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`hvd`::
27+
Trace file contains `HostVehicleData` messages.
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`sd`::
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Trace file contains `SensorData` messages.
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2932
`tc`::
3033
Trace file contains `TrafficCommand` messages.
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32-
`hvd`::
33-
Trace file contains `HostVehicleData` messages.
35+
`tcu`::
36+
Trace file contains `TrafficCommandUpdate` messages.
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`tu`::
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Trace file contains `TrafficUpdate` messages.
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41+
`mr`::
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Trace file contains `MotionRequest` messages.
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44+
`su`::
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Trace file contains `StreamingUpdate` messages.
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3547
**Example**
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‎doc/architecture/traffic_command.adoc

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endif::[]
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= Traffic command
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`TrafficCommand` messages contain control commands from the scenario engine to traffic participant models.
7+
`TrafficCommand` messages contain control commands from the scenario engine to traffic participant models.
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For more details, see xref:gen:structosi3_1_1TrafficCommand.adoc[].

‎doc/architecture/traffic_command_update.adoc

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ifndef::include-only-once[]
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:root-path: ../
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include::{root-path}_config.adoc[]
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endif::[]
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= Traffic command update
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7+
`TrafficCommandUpdate` messages enable the traffic participant model to send updates to the scenario engine about the execution of its received xref:architecture/traffic_command.adoc[TrafficCommand] input.
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For more details, see xref:gen:structosi3_1_1TrafficCommandUpdate.adoc[].

‎doc/architecture/traffic_update.adoc

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= Traffic update
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`TrafficUpdate` messages are provided by traffic participants.
8-
They provide updates on the position, state, and future trajectory of a traffic participant back to the simulation environment.
8+
They provide updates on the position, state, and future trajectory of a traffic participant back to the simulation environment.
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For more details, see xref:gen:structosi3_1_1TrafficUpdate.adoc[].

‎doc/open-simulation-interface_user_guide.adoc

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include::./architecture/sensor_data.adoc[leveloffset=+3]
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include::./architecture/host_vehicle_data.adoc[leveloffset=+3]
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include::./architecture/traffic_command.adoc[leveloffset=+3]
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include::./architecture/traffic_command_update.adoc[leveloffset=+3]
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include::./architecture/motion_request.adoc[leveloffset=+3]
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include::./architecture/traffic_update.adoc[leveloffset=+3]

‎open_simulation_interface-config.cmake.in

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66
if(NOT TARGET @PROJECT_NAME@ AND NOT @PROJECT_NAME@_BINARY_DIR)
77
set_and_check(OPEN_SIMULATION_INTERFACE_INCLUDE_DIRS "@PACKAGE_OSI_INSTALL_INCLUDE_DIR@")
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set(OPEN_SIMULATION_INTERFACE_LIBRARIES "@PROJECT_NAME@")
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include("${CMAKE_CURRENT_LIST_DIR}/open_simulation_interface_targets.cmake")
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include("${CMAKE_CURRENT_LIST_DIR}/open_simulation_interface-targets.cmake")
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endif()

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