Merge branch 'OpenSimulationInterface:master' into rebased_master

Author: philipwindecker

.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

.github/workflows/antora-generator.yml

@@ -0,0 +1,27 @@
+
+name: Antora build trigger
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  trigger_antora:
+    name: Trigger antora generator
+
+    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 }}"}'

.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'

.gitignore

@@ -40,3 +40,6 @@ githooks/pre-commit
 # PyCharm specific files
 .idea
 .vscode/settings.json
+
+# Local build tool output
+local_build_tools/*.html

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

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::[]

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 communicate the results of the behavior planning to the dynamic model.
 
 NOTE: OSI uses singular instead of plural for `repeated` field names.
 

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.

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 `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]
 .Traffic participant using other OSI interfaces internally