new release osi-visualizer (#23)

* add field of view and fmu communicate support

* upgrade to osi-3.0

* rm fmu hard code; change default messasge save threshold; display receive message time stamp; add scroll bar for the config info.

* segmentation fault. add trafficsign/trafficlight/roadmarking/laneboundary possibility

* bug fix: refresh old buffer when playback restart

* keep the data type consistant through the whole program; update support data type to: SensorData and SensorView; update README.md

* Fixed JModelica link error

* add submodule osi-sensor-model-packaging

* remove osi-sensor-model-packing submodule, reason: open-simulation-interface recursively included, logically, referencing to osi-sensor-model-packing IMHO is incorrect.

* cmath fix for M_PI

* cmath fix +1

* Fixed FMILib in CMake for local building

Author: haoyuanying

.gitmodules

@@ -1,3 +1,10 @@
 [submodule "open-simulation-interface"]
 	path = open-simulation-interface
 	url = https://github.com/OpenSimulationInterface/open-simulation-interface.git
+
+[submodule "osi-sensor-model-packaging"]
+	path = osi-sensor-model-packaging
+	url = https://github.com/OpenSimulationInterface/osi-sensor-model-packaging.git
+[submodule "osi-sensor-model-packaging/examples"]
+	path = osi-sensor-model-packaging/examples
+	url = http://www.github.com/OpenSimulationInterface/osi-sensor-model-packaging.git

CMakeLists.txt

@@ -10,6 +10,18 @@ set(CMAKE_AUTOUIC ON)
 
 find_package(Qt5 COMPONENTS Core Gui OpenGL Widgets Xml Network REQUIRED)
 
+find_path(
+  FMILIB_INCLUDE_DIRS
+  fmilib.h
+  HINTS /usr/include/fmi-library /usr/include /usr/local/include/fmi-library /usr/local/include
+)
+
+find_library(
+  FMILIB_LIBRARY
+  fmilib_shared
+  HINTS /usr/lib/fmi-library /usr/lib /usr/local/lib/fmi-library /usr/local/lib
+)
+
 set(SOURCES
     src/main.cpp
     src/mainwindow.cpp
@@ -31,6 +43,9 @@ set(SOURCES
     src/gltrafficsign.cpp
     src/qrc_resources.cpp
     src/osiparser.cpp
+    src/glfieldofview.cpp
+    src/fmureceiver.cpp
+    src/utils.cpp
 )
 
 set(HEADERS
@@ -55,9 +70,17 @@ set(HEADERS
     include/glpoint.h
     include/gltrafficsign.h
     include/osiparser.h
+    include/glfieldofview.h
+    include/fmureceiver.h
+    include/utils.h
+)
+
+
+include_directories(
+    ${CMAKE_CURRENT_LIST_DIR}/include
+    ${FMILIB_INCLUDE_DIRS}
 )
 
-include_directories(include)
 
 add_executable(${PROJECT_NAME}
     ${HEADERS}
@@ -72,7 +95,9 @@ target_link_libraries(${PROJECT_NAME}
     Qt5::OpenGL
     Qt5::Network
 
-    open_simulation_interface_pic
+    open_simulation_interface
+    ${FMILIB_LIBRARY}
     protobuf
     zmq
 )
+

Dockerfile

@@ -1,7 +1,10 @@
 FROM ubuntu:latest
 
 RUN mkdir -p /project
-RUN apt-get update && apt-get install -y git vim unzip zip cmake gcc g++ qtbase5-dev libprotobuf-dev protobuf-compiler libzmq3-dev
+RUN apt-get update && apt-get install -y git vim unzip zip cmake gcc g++ qtbase5-dev libprotobuf-dev protobuf-compiler libzmq3-dev wget
+RUN mkdir -p /build
+WORKDIR /build
+RUN wget https://jmodelica.org/fmil/FMILibrary-2.0.3-src.zip && unzip FMILibrary-2.0.3-src.zip && mkdir build-fmil && cd build-fmil && cmake -DFMILIB_INSTALL_PREFIX=/usr/local ../FMILibrary-2.0.3 && make install
 
 VOLUME [ "/project"]
 WORKDIR /project

README.md

@@ -2,7 +2,9 @@
 
 Visualization tool for OSI messages. This software serves as visualization tool for the current implementation of the [OSI (Open Simulation Interface)](https://github.com/OpenSimulationInterface/open-simulation-interface) mesages.The osi-visualizer supports to visualize the OSI GroundTruth and SensorData messages. It supports two independent visual channels with two different input types (file and network stream). 
 
-![alt text](https://github.com/OpenSimulationInterface/osi-visualizer/tree/master/Resources/Images/Over_View.png "Over View")
+<div align="center">
+  <img src="https://github.com/OpenSimulationInterface/osi-visualizer/tree/master/Resources/Images/Over_View.png"><br><br>
+</div>
 
 ## General Information
 
@@ -38,7 +40,9 @@ Open New Project -> CMakeLists.txt
 ### Connection:
 The channel receives osi message from the network with specific IP address and Port number, and shows up different data types.
 
-![alt text](https://github.com/OpenSimulationInterface/osi-visualizer/tree/master/Resources/Images/Connection.png "Connection Setting")
+<div align="center">
+  <img src="https://github.com/OpenSimulationInterface/osi-visualizer/tree/master/Resources/Images/Connection.png"><br><br>
+</div>
 
 ### Playback:
 The channel receives osi message from the loaded file. The tool will check a header file of same name with a extension: .txth. If it doesn't exist, the tool will create one automatically for the first time.
@@ -48,7 +52,16 @@ Example: set it to 10 ms, each message will have 10 ms more delay for playing.
 
 Besides the tool provides sending out osi message to network with specific port number.
 
-![alt text](https://github.com/OpenSimulationInterface/osi-visualizer/tree/master/Resources/Images/Playback.png "Playback Setting")
+<div align="center">
+  <img src="https://github.com/OpenSimulationInterface/osi-visualizer/tree/master/Resources/Images/Playback.png"><br><br>
+</div>
+
+### Show Field of View:
+Show field of view for sensors, like Lidar, on the grid. User can set minimum range, maximum range, azimuth positive angle and azimuth negative angle.
+
+<div align="center">
+  <img src="https://github.com/OpenSimulationInterface/osi-visualizer/tree/master/Resources/Images/FOV.png"><br><br>
+</div>
 
 ### Save OSI Message:
 Log or cut out part of the osi message stream and save it to another file. By default the threshold is 1000 osi messages. User can change this threshold in the config file.
@@ -79,7 +92,9 @@ When playing large osi files, try to adapt the Delta Delay. Then the tool render
 Channel 1 plays an osi input file and sends out the osi message to port 5564 at the same time. 
 Channel 2 receives osi message from port 5564 and shows up on the canvas.
 
-![alt text](https://github.com/OpenSimulationInterface/osi-visualizer/tree/master/Resources/Images/Demo.png "Run time screen shot")
+<div align="center">
+  <img src="https://github.com/OpenSimulationInterface/osi-visualizer/tree/master/Resources/Images/Demo.png"><br><br>
+</div>
 
 
 

Resources/Images/Connection.png

@@ -21,20 +21,39 @@ class AppConfig
         QString  ch1IPAddress_;
         QString  ch1PortNum_;
         DataType ch1DataType_;
+        bool     ch1FMURxCheck_;
+        QString  ch1LoadFMURx_;
         QString  ch1LoadFile_;
         DataType ch1PlaybackDataType_;
         int      ch1DeltaDelay_;
         bool     ch1EnableSendOut_;
         QString  ch1SendOutPortNum_;
+        bool     ch1FMUTxCheck_;
+        QString  ch1LoadFMUTx_;
+        bool     ch1ShowFOV_;
+        float    ch1MinRadius_;
+        float    ch1MaxRadius_;
+        float    ch1AzimuthPos_;
+        float    ch1AzimuthNeg_;
+
 
         QString  ch2IPAddress_;
         QString  ch2PortNum_;
         DataType ch2DataType_;
+        bool     ch2FMURxCheck_;
+        QString  ch2LoadFMURx_;
         QString  ch2LoadFile_;
         DataType ch2PlaybackDataType_;
         int      ch2DeltaDelay_;
         bool     ch2EnableSendOut_;
         QString  ch2SendOutPortNum_;
+        bool     ch2FMUTxCheck_;
+        QString  ch2LoadFMUTx_;
+        bool     ch2ShowFOV_;
+        float    ch2MinRadius_;
+        float    ch2MaxRadius_;
+        float    ch2AzimuthPos_;
+        float    ch2AzimuthNeg_;
 
         bool combineChannel_;
         bool showGrid_;

Resources/Images/Demo.png

@@ -0,0 +1,110 @@
+///
+/// @file
+/// @copyright Copyright (C) 2017, Bayerische Motoren Werke Aktiengesellschaft (BMW AG)
+///
+/// @brief
+///
+
+
+
+#pragma once
+
+#include <QtConcurrent/QtConcurrent>
+
+#include <string>
+
+#include "osi_sensordata.pb.h"
+#include "imessagesource.h"
+#include "types.h"
+
+
+extern "C" {
+#include <JM/jm_portability.h>
+#include <fmilib.h>
+}
+
+/* The following names come from FMU modelDescription.in.xml */
+#define FMI_SENDER_NAME   "sender"
+#define FMI_RECEIVER_NAME "receiver"
+#define FMI_ADDRESS_NAME  "address"
+#define FMI_PORT_NAME     "port"
+
+#define FMI_DATA_OUT_BASELO_NAME "OSMPSensorDataOut.base.lo"
+#define FMI_DATA_OUT_BASEHI_NAME "OSMPSensorDataOut.base.hi"
+#define FMI_DATA_OUT_SIZE_NAME   "OSMPSensorDataOut.size"
+
+/* local index defines */
+#define FMI_INTEGER_SENSORDATA_OUT_BASELO_IDX 0 // correspond to FMI_DATA_OUT_BASELO_NAME
+#define FMI_INTEGER_SENSORDATA_OUT_BASEHI_IDX 1 // correspond to FMI_DATA_OUT_BASEHI_NAME
+#define FMI_INTEGER_SENSORDATA_OUT_SIZE_IDX   2 // correspond to FMI_DATA_OUT_SIZE_NAME
+#define FMI_INTEGER_LAST_OUT_IDX FMI_INTEGER_SENSORDATA_OUT_SIZE_IDX
+#define FMI_INTEGER_OUT_VARS (FMI_INTEGER_LAST_OUT_IDX + 1)
+
+class FMUReceiver: public QObject, public IMessageSource
+{
+    Q_OBJECT
+
+    public:
+        FMUReceiver();
+
+        signals:
+            void Connected(DataType dataType);
+            void Disconnected(const QString& message = "");
+            void UpdateSliderTime(int sliderValue);
+            void MessageSDReceived(const osi3::SensorData& sd);
+            void MessageSVReceived(const osi3::SensorView& sv);
+
+    public slots:
+            void DisconnectRequested();
+            void ConnectRequested(const QString& ipAddress,
+                                  const QString& port,
+                                  const QString& fmuPath,
+                                  DataType dataType);
+
+    private:
+
+        void ReceiveLoop();
+
+        bool isRunning_;
+        bool isThreadTerminated_;
+        DataType currentDataType_;
+
+
+        // FMU interface
+        fmi2_import_t* fmu_;
+        fmi2_callback_functions_t callBackFunctions_;
+        jm_callbacks callbacks_;
+        fmi_import_context_t* context_;
+
+        jm_status_enu_t jmStatus_;
+        fmi2_status_t fmiStatus_;
+
+        fmi2_real_t tStart_;
+        fmi2_real_t tEnd_;
+        fmi2_real_t tCurrent_;
+        fmi2_real_t hStep_;
+
+        std::string ip_;
+        std::string port_;
+        std::string FMUPath_;
+        std::string tmpPath_;
+        enum class LogLevel
+        {
+            Warn,
+            Debug
+        };
+        LogLevel logLevel_;
+        std::string currentBuffer_;
+        fmi2_value_reference_t vr_[FMI_INTEGER_OUT_VARS];
+
+        // initialize fmu wrapper specific logger, create fmi import context and check fmi version
+        bool initializeFMUWrapper();
+        // import fmu binary file
+        bool importFMU();
+        // setup and initialize FMU
+        bool initializeFMU();
+        // protobuf accessors
+        template<typename T> bool get_fmi_sensor_data_in(T& data);
+};
+
+

Resources/Images/FOV.png

@@ -0,0 +1,23 @@
+
+
+
+
+#pragma once
+#include "globject.h"
+
+class GLFieldOfView : public GLObject
+{
+    public:
+        GLFieldOfView(QOpenGLFunctions_4_3_Core* functions,
+                      const float minRadius,
+                      const float maxRadius,
+                      const float azimuthPosAngle,
+                      const float azimuthNegAngle);
+
+        void UpdateParameter(const float minRadius,
+                             const float maxRadius,
+                             const float azimuthPosAngle,
+                             const float azimuthNegAngle);
+};
+
+

Resources/Images/Playback.png

@@ -12,4 +12,11 @@ class GLVehicle : public GLObject
 {
     public:
         GLVehicle(QOpenGLFunctions_4_3_Core* functions, QString id, float xExtend, float zExtend);
+
+        GLVehicle(QOpenGLFunctions_4_3_Core* functions,
+                  QString id,
+                  QVector3D v0,
+                  QVector3D v1,
+                  QVector3D v2,
+                  QVector3D v3);
 };

include/appconfig.h

@@ -14,6 +14,8 @@
 #include "lane.h"
 #include "imessagesource.h"
 
+#include "glfieldofview.h"
+
 #include <QOpenGLWidget>
 #include <QTreeWidgetItem>
 #include <QOpenGLFunctions>
@@ -35,6 +37,13 @@ class GLWidget : public QOpenGLWidget, protected QOpenGLFunctions_4_3_Core
 
         void UpdateIMessageSource(IMessageSource* msgSource);
 
+        void UpdateFOVPaint(const bool showFOV);
+
+        void UpdateFOVParam(const float minRadius,
+                            const float maxRadius,
+                            const float azimuthPosAngle,
+                            const float azimuthNegAngle);
+
     signals:
         void DisplayObjectInformation(GLObject* object);
         void SetTrackingEnabled(bool enable);
@@ -87,4 +96,7 @@ class GLWidget : public QOpenGLWidget, protected QOpenGLFunctions_4_3_Core
         QOpenGLShaderProgram shaderProgram_;
         QMap<ObjectType, QTreeWidgetItem*>& treeNodes_;
 
+        bool showFOV_;
+        GLFieldOfView* objFOV_;
+
 };