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Merge pull request #465 from OpenSimulationInterface/feature/ha/ExternalIdentifier
Definiton of external references
2 parents aeb8541 + 3f28734 commit 6b8d46d

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‎osi_common.proto

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@@ -215,6 +215,68 @@ message Identifier
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optional uint64 value = 1;
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}
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// \brief References to external objects.
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//
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// The external reference is an optional recommendation to refer to objects defined outside of OSI.
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// This could be other OpenX standards, 3rd-party standards or user-defined objects.
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//
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// \note ExternalReference is optional and can be left empty.
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//
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message ExternalReference
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{
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// The source of the external references.
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//
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// Defines the original source of an object as uniquely identifiable reference.
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// In case of using \c GroundTruth::map_reference or
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// \c GroundTruth::model_reference, the reference can be left empty.
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// If not otherwise required, an URI is suggested. The syntax should follow
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// \link https://tools.ietf.org/html/rfc3986 RFC 3986\endlink.
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//
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//
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optional string reference = 1;
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// The type of the external references.
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//
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// Mandatory value describing the type of the original source.
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//
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// For OpenX/ASAM standards it is specified as follows:
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// - net.asam.opendrive
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// - net.asam.openscenario
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//
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// For third-party standards and user-defined objects,
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// reverse domain name notation with lower-case type field
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// is recommended to guarantee unique and interoperable identification.
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//
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optional string type = 2;
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// The external identifier reference value.
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//
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// The repeated string is chosen as a common description of the external
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// identifier, because a variety of identificatier types could be
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// involved .
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//
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// For example, referencing a unique lane in OpenDRIVE requires the
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// following identifiers:
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// * RoadId: String
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// * S-Value of LaneSection: Double
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// * LaneId: Int
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//
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// \note The detailed description of the identifiers and how they are
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// used for referencing external objects is given in the individual
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// messages where the external identifier is used.
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//
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// \see EnvironmentalConditions::source_reference
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// \see Lane::source_reference
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// \see LaneBoundary::source_reference
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// \see StationaryObject::source_reference
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// \see MovingObject::source_reference
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// \see RoadMarking::source_reference
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// \see TrafficLight::source_reference
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// \see TrafficSign::source_reference
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//
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repeated string identifier = 3;
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}
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//
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// \brief Specifies the mounting position of a sensor.
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//
@@ -517,4 +579,3 @@ message WavelengthData
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//
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optional double samples_number = 3;
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}
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‎osi_environment.proto

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@@ -2,6 +2,8 @@ syntax = "proto2";
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option optimize_for = SPEED;
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import "osi_common.proto";
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package osi3;
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//
@@ -85,6 +87,19 @@ message EnvironmentalConditions
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// Description of the fog.
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//
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optional Fog fog = 7;
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// Optional external reference to the environmental condition sources.
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//
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// \note For OpenDRIVE and OpenSECNARIO there is no direct counterpart.
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//
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// \note For non-ASAM standards, it is implementation-specific how
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// source_reference is resolved.
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//
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// \note The value has to be repeated because one object may be derived
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// from more than one origin source, for example, from a scenario file
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// and from sensors.
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//
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repeated ExternalReference source_reference = 9;
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// Definition of discretized precipitation states according to [1].
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// (I = Intensity of precipitation in mm per hour mm/h)

‎osi_lane.proto

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@@ -50,6 +50,30 @@ message Lane
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//
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optional Classification classification = 2;
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// Optional external reference to the lane source.
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//
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// The external reference points to the source of the lane, if it is derived
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// from one or more objects or external references.
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//
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// For example, to reference a lane defined in an OpenDRIVE map
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// the items should be set as follows:
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// * reference = URI to map, can remain empty if identical with definiton
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// in \c GroundTruth::map_reference
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// * type = "net.asam.opendrive"
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// * identifier[0] = id of t_road
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// * identifier[1] = s of t_road_lanes_laneSection
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// * identifier[2] = id of t_road_lanes_laneSection_left_lane,
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// t_road_lanes_laneSection_right_lane
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//
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// \note For non-ASAM Standards, it is implementation-specific how
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// source_reference is resolved.
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//
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// \note The value has to be repeated, because one lane segment may be
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// derived from more than one origin segment. Multiple sources
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// may be added as reference as well, for example, a map and sensors.
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//
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repeated ExternalReference source_reference = 3;
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//
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// \brief \c Classification of a lane.
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//
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// The classification of the lane boundary.
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//
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optional Classification classification = 3;
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// Optional external reference to the lane boundary source.
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//
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// \note For OpenDRIVE, there is no direct possibility to reference the
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// RoadMark, as there is no unique identifier in this sub-object.
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//
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// \note For non-ASAM Standards, it is implementation-specific how
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// source_reference is resolved.
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//
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// \note The value has to be repeated because one object may be derived
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// from more than one origin source, for example, from a scenario file
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// and from sensors.
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//
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repeated ExternalReference source_reference = 4;
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//
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// \brief A single point of a lane boundary.

‎osi_object.proto

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@@ -40,6 +40,41 @@ message StationaryObject
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//
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optional string model_reference = 4;
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// External reference to the stationary-object source.
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//
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// The external reference points to the source of a stationary object, if it
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// is derived from an external sources like OpenDRIVE or OpenSCENARIO.
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//
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// For example, to reference an object defined in an OpenDRIVE map
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// the items should be set as follows:
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// * reference = URI to map, can remain empty if identical with definiton
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// in \c GroundTruth::map_reference
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// * type = "net.asam.opendrive"
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// * identifier[0] = "object" for t_road_objects_object and
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// "bridge" for t_road_objects_bridge
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// * identifier[1] = id of t_road_objects_object or t_road_objects_bridge
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//
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// For example, to reference OpenSCENARIO entities of the type MiscObject,
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// which describe partly stationary objects, the items should be set as
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// follows:
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// * reference = URI to the OpenSCENARIO File
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// * type = "net.asam.openscenario"
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// * identifier[0] = Entity-Type ("MiscObject")
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// * identifier[1] = name of MiscObject in Entity
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//
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// \note The following rule, described in OpenDRIVE, also applies:
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// * Objects derived from OpenSCENARIO shall not be mixed with objects
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// described in OpenDRIVE.
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//
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// \note For non-ASAM Standards, it is implementation-specific how
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// source_reference is resolved.
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//
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// \note The value has to be repeated because one object may be derived
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// from more than one origin source, for example, from a scenario file
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// and from sensors.
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//
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repeated ExternalReference source_reference = 5;
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//
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// \brief Classification data for a stationary object.
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//
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//
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optional MovingObjectClassification moving_object_classification = 9;
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// Optional external reference to the moving-object source
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//
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// The external reference points to the source of an moving object, if it
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// is derived from an external sources like OpenSCENARIO.
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//
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// For example, to reference OpenSCENARIO entities of the type Vehicle or
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// Pedestrian, which describe moving objects, the items should be set as
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// follows:
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// * reference = URI to the OpenSCENARIO File
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// * type = "net.asam.openscenario"
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// * identifier[0] = Entity-Type ("Vehicle" or "Pedestrian")
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// * identifier[1] = name of Vehicle/Pedestrian in Entity
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//
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// \todo OpenSCENARIO currently does not provide an animal type.
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//
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// \note For non-ASAM Standards, it is implementation-specific how
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// source_reference is resolved.
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//
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// \note The value has to be repeated because one object may be derived
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// from more than one origin source, for example, from a scenario file
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// and from sensors.
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//
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repeated ExternalReference source_reference = 10;
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// Definition of object types.
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//
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enum Type

‎osi_occupant.proto

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@@ -23,6 +23,19 @@ message Occupant
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//
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optional Classification classification = 2;
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// External reference to the occupant source.
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//
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// \note For OpenDRIVE and OpenSCENARIO there is no direct counterpart.
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//
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// \note For non-ASAM Standards, it is implementation-specific how
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// source_reference is resolved.
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//
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// \note The value has to be repeated because one object may be derived
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// from more than one origin source, for example, from a scenario file
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// and from sensors.
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//
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repeated ExternalReference source_reference = 3;
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//
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// \brief Information regarding the classification of the occupant.
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//

‎osi_roadmarking.proto

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//
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optional Classification classification = 3;
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// Optional external reference to the road-marking source.
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//
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// The external reference points to the source of the surface marking, if it
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// is derived from one or more objects or external references. An example
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// here is the reference to the signal defined in a OpenDRIVE map.
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//
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// For example, to reference a signal defined in an OpenDRIVE map
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// the items should be set as follows:
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// * reference = URI to map, can remain empty if identical with definiton
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// in \c GroundTruth::map_reference
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// * type = "net.asam.opendrive"
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// * identifier[0] = id of t_road_signals_signal
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//
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// \note With OpenDRIVE, surface markings can also be defined as objects.
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// In this case, the associated object is usually referenced within
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// OpenDRIVE using the reference t_road_signals_signal_reference.
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// An additional reference to the object is therefore not necessary.
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//
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// \note For non-ASAM Standards, it is implementation-specific how
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// source_reference is resolved.
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//
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// \note The value has to be repeated, because one lane segment may be
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// derived from more than one origin segment. Multiple sources
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// may be added as reference as well, for example, a map and sensors.
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//
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repeated ExternalReference source_reference = 4;
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//
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// \brief \c Classification data for a road surface marking.
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//

‎osi_trafficlight.proto

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@@ -42,6 +42,27 @@ message TrafficLight
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//
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optional string model_reference = 4;
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// Optional external reference to the traffic light source.
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//
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// The external reference points to the source of the traffic light, if it
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// is derived from one or more objects or external references.
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//
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// For example, to reference a signal defined in an OpenDRIVE map
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// the items should be set as follows:
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// * reference = URI to map, can remain empty if identical with definition
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// in \c GroundTruth::map_reference
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// * type = "net.asam.opendrive"
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// * identifier[0] = id of t_road_signals_signal
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//
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// \note For non-ASAM Standards, it is implementation-specific how
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// source_reference is resolved.
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//
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// \note The value has to be repeated, because one lane segment may be
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// derived from more than one origin segment. Multiple sources
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// may be added as reference as well, for example, a map and sensors.
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//
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repeated ExternalReference source_reference = 5;
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//
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// \brief \c Classification data for a traffic light.
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//

‎osi_trafficsign.proto

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@@ -156,6 +156,32 @@ message TrafficSign
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//
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repeated SupplementarySign supplementary_sign = 3;
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// Optional external reference to the traffic sign source.
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//
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// The external reference point to the source of the traffic sign, if it is
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// derived from one or more objects or external references.
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//
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// For example, to reference a signal defined in an OpenDRIVE map
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// the items should be set as follows:
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// * reference = URI to map, can remain empty if identical with definition
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// in \c GroundTruth::map_reference
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// * type = "net.asam.opendrive"
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// * identifier[0] = id of t_road_signals_signal
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//
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// \note For non-ASAM Standards, it is implementation-specific how
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// source_reference is resolved.
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//
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// \note If an individual identification of MainSign and SupplementarySign
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// is necessary, this should be done via multiple individual
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// entries of this source_reference.
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//
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// \note The value has to be repeated, because one lane segment may be
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// derived from more than one origin segment. Multiple sources
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// may be added as reference as well, for example, a map and sensors.
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//
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repeated ExternalReference source_reference = 4;
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//
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// \brief Main sign of the traffic sign.
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//

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