Merge branch 'master' into OSI-584-VehicleRole

Author: adrianschultz

.gitignore

@@ -23,6 +23,8 @@ osi_version.proto
 version.py
 pyproject.toml
 
+compile_commands.json
+
 # Eclipse-specific files, if any
 *.cproject
 *.project

CMakeLists.txt

@@ -2,11 +2,19 @@ cmake_minimum_required(VERSION 3.5)
 
 project(open_simulation_interface)
 
-# set default compiler
+# Toplevel check
+set(OSI_IS_TOP_LEVEL OFF)
+if(CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
+  set(OSI_IS_TOP_LEVEL ON)
+endif()
+
+# Set the C++ standard
 set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # Optional Flatbuffer support
-set(BUILD_FLATBUFFER OFF CACHE BOOLEAN "Build flatbuffer versions of libraries")
+option(OSI_BUILD_FLATBUFFER "Build flatbuffer versions of libraries" OFF)
+option(OSI_BUILD_DOCUMENTATION "Build flatbuffer versions of libraries" ${OSI_IS_TOP_LEVEL})
 
 # Set a default build type if none was specified
 set(default_build_type "Release")
@@ -38,27 +46,26 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
 endif()
 
 # Offer the user the choice of overriding the installation directories
-set(INSTALL_LIB_DIR lib CACHE PATH "Installation directory for libraries")
-set(INSTALL_INCLUDE_DIR include CACHE PATH "Installation directory for header files")
+set(OSI_INSTALL_LIB_DIR lib CACHE PATH "Installation directory for libraries")
+set(OSI_INSTALL_INCLUDE_DIR include CACHE PATH "Installation directory for header files")
 
 if(WIN32 AND NOT CYGWIN)
   set(DEF_INSTALL_CMAKE_DIR CMake/${PROJECT_NAME}-${VERSION_MAJOR})
 else()
   set(DEF_INSTALL_CMAKE_DIR lib/cmake/${PROJECT_NAME}-${VERSION_MAJOR})
 endif()
-set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
-    "Installation directory for CMake files")
+set(OSI_INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH "Installation directory for CMake files")
 
-set(INSTALL_LIB_DIR ${INSTALL_LIB_DIR}/osi${VERSION_MAJOR})
-set(INSTALL_INCLUDE_DIR ${INSTALL_INCLUDE_DIR}/osi${VERSION_MAJOR})
+set(OSI_INSTALL_LIB_DIR ${OSI_INSTALL_LIB_DIR}/osi${VERSION_MAJOR})
+set(OSI_INSTALL_INCLUDE_DIR ${OSI_INSTALL_INCLUDE_DIR}/osi${VERSION_MAJOR})
 
-configure_file(osi_version.proto.in ${CMAKE_CURRENT_SOURCE_DIR}/osi_version.proto)
+configure_file(osi_version.proto.in osi_version.proto)
 
 find_package(Protobuf 2.6.1 REQUIRED)
 set(PROTOBUF_IMPORT_DIRS ${PROTOBUF_INCLUDE_DIRS})
 
 set(OSI_PROTO_FILES
-    osi_version.proto
+    ${CMAKE_CURRENT_BINARY_DIR}/osi_version.proto
     osi_common.proto
     osi_datarecording.proto
     osi_detectedtrafficsign.proto
@@ -74,8 +81,10 @@ set(OSI_PROTO_FILES
     osi_trafficlight.proto
     osi_trafficupdate.proto
     osi_trafficcommand.proto
+    osi_referenceline.proto
     osi_roadmarking.proto
     osi_lane.proto
+    osi_logicallane.proto
     osi_featuredata.proto
     osi_logicaldetectiondata.proto
     osi_object.proto
@@ -88,7 +97,7 @@ set(OSI_PROTO_FILES
 
 protobuf_generate_cpp(PROTO_SRCS PROTO_HEADERS ${OSI_PROTO_FILES})
 set(FLAT_HEADERS "")
-if(BUILD_FLATBUFFER)
+if(OSI_BUILD_FLATBUFFER)
   set(FLAT_FBS "")
   add_subdirectory("flatbuffers"
                    ${CMAKE_CURRENT_BINARY_DIR}/flatbuffers-build
@@ -131,50 +140,53 @@ if(BUILD_FLATBUFFER)
 endif()
 
 add_library(${PROJECT_NAME}_static STATIC ${PROTO_SRCS} ${PROTO_HEADERS})
+add_library(${PROJECT_NAME}::${PROJECT_NAME}_static ALIAS ${PROJECT_NAME}_static)
 target_include_directories(${PROJECT_NAME}_static
     PUBLIC
         ${PROTOBUF_INCLUDE_DIR}
         $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
-        $<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR}>
+        $<INSTALL_INTERFACE:${OSI_INSTALL_INCLUDE_DIR}>
 )
 target_link_libraries(${PROJECT_NAME}_static PUBLIC ${PROTOBUF_LIBRARY})
 install(TARGETS ${PROJECT_NAME}_static
         EXPORT ${PROJECT_NAME}_targets
-        ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib)
+        ARCHIVE DESTINATION "${OSI_INSTALL_LIB_DIR}" COMPONENT lib)
 
 
 add_library(${PROJECT_NAME}_obj OBJECT ${PROTO_SRCS} ${PROTO_HEADERS})
+add_library(${PROJECT_NAME}::${PROJECT_NAME}_obj ALIAS ${PROJECT_NAME}_obj)
 target_include_directories(${PROJECT_NAME}_obj
     PUBLIC
         ${PROTOBUF_INCLUDE_DIR}
         $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
-        $<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR}>
+        $<INSTALL_INTERFACE:${OSI_INSTALL_INCLUDE_DIR}>
 )
 set_property(TARGET ${PROJECT_NAME}_obj PROPERTY POSITION_INDEPENDENT_CODE ON)
 
 
 add_library(${PROJECT_NAME}_pic STATIC $<TARGET_OBJECTS:${PROJECT_NAME}_obj>)
-
+add_library(${PROJECT_NAME}::${PROJECT_NAME}_pic ALIAS ${PROJECT_NAME}_pic)
 target_include_directories(${PROJECT_NAME}_pic
     PUBLIC
         ${PROTOBUF_INCLUDE_DIR}
         $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
-        $<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR}>
+        $<INSTALL_INTERFACE:${OSI_INSTALL_INCLUDE_DIR}>
 )
 target_link_libraries(${PROJECT_NAME}_pic PUBLIC ${PROTOBUF_LIBRARY})
 
 set_property(TARGET ${PROJECT_NAME}_pic PROPERTY POSITION_INDEPENDENT_CODE ON)
 
 install(TARGETS ${PROJECT_NAME}_pic
         EXPORT ${PROJECT_NAME}_targets
-        ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib)
+        ARCHIVE DESTINATION "${OSI_INSTALL_LIB_DIR}" COMPONENT lib)
 
 add_library(${PROJECT_NAME} SHARED $<TARGET_OBJECTS:${PROJECT_NAME}_obj>)
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 target_include_directories(${PROJECT_NAME}
     PUBLIC
         ${PROTOBUF_INCLUDE_DIR}
         $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
-        $<INSTALL_INTERFACE:${INSTALL_INCLUDE_DIR}>
+        $<INSTALL_INTERFACE:${OSI_INSTALL_INCLUDE_DIR}>
 )
 
 set_property(
@@ -189,64 +201,72 @@ set_property(
 target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY})
 install(TARGETS ${PROJECT_NAME}
         EXPORT ${PROJECT_NAME}_targets
-        DESTINATION "${INSTALL_LIB_DIR}" COMPONENT lib)
-
-# Create the open_simulation_interface.cmake and open_simulation_interface-version files
-
-# ... for the build tree
-set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}" "${PROJECT_BINARY_DIR}")
-configure_file(open_simulation_interface-config.cmake.in
-               "${PROJECT_BINARY_DIR}/${PROJECT_NAME}-config.cmake" @ONLY)
-# ... for the install tree
-set(CONF_INCLUDE_DIRS ${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR} ${PROTOBUF_INCLUDE_DIR})
-configure_file(open_simulation_interface-config.cmake.in
-               "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/open_simulation_interface-config.cmake" @ONLY)
-# ... for both
-configure_file(open_simulation_interface-config-version.cmake.in
-               "${PROJECT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake" @ONLY)
+        DESTINATION "${OSI_INSTALL_LIB_DIR}" COMPONENT lib)
+
+# Copy proto headers to where they are expected by the package config file
+add_custom_command(
+    TARGET ${PROJECT_NAME} POST_BUILD
+    COMMAND ${CMAKE_COMMAND} -E make_directory
+    ${CMAKE_CURRENT_BINARY_DIR}/${OSI_INSTALL_INCLUDE_DIR}
+    COMMAND ${CMAKE_COMMAND} -E copy
+    ${PROTO_HEADERS}
+    ${CMAKE_CURRENT_BINARY_DIR}/${OSI_INSTALL_INCLUDE_DIR})
+
+# Create the package config files
+include(CMakePackageConfigHelpers)
+write_basic_package_version_file(
+    "${CMAKE_CURRENT_BINARY_DIR}/open_simulation_interface-config-version.cmake"
+    VERSION ${OPEN_SIMULATION_INTERFACE_VERSION}
+    COMPATIBILITY SameMajorVersion
+)
+
+export(EXPORT ${PROJECT_NAME}_targets
+    FILE "${CMAKE_CURRENT_BINARY_DIR}/open_simulation_interface-targets.cmake"
+    NAMESPACE ${PROJECT_NAME}::
+)
+
+configure_package_config_file(open_simulation_interface-config.cmake.in
+    "${CMAKE_CURRENT_BINARY_DIR}/open_simulation_interface-config.cmake"
+    INSTALL_DESTINATION ${OSI_INSTALL_CMAKE_DIR}
+    PATH_VARS OSI_INSTALL_INCLUDE_DIR
+    NO_CHECK_REQUIRED_COMPONENTS_MACRO
+)
 
 # Install the *cmake files
 install(FILES
-        "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/open_simulation_interface-config.cmake"
-        "${PROJECT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
-        DESTINATION "${INSTALL_CMAKE_DIR}"
-        COMPONENT dev)
+    "${CMAKE_CURRENT_BINARY_DIR}/open_simulation_interface-config.cmake"
+    "${CMAKE_CURRENT_BINARY_DIR}/open_simulation_interface-config-version.cmake"
+    DESTINATION "${OSI_INSTALL_CMAKE_DIR}"
+    COMPONENT dev)
 
 # Header files
 install(FILES ${PROTO_HEADERS} ${FLAT_HEADERS}
-        DESTINATION "${INSTALL_INCLUDE_DIR}")
+        DESTINATION "${OSI_INSTALL_INCLUDE_DIR}")
 
 # Install the export set for use with the install-tree
 install(EXPORT ${PROJECT_NAME}_targets
-        DESTINATION "${INSTALL_CMAKE_DIR}"
-        COMPONENT dev)
-
-# add a target to generate API documentation with Doxygen
-# Dependencies: Doxygen and proto2cpp.py
-FIND_PACKAGE(Doxygen)
-set(FILTER_PROTO2CPP_PY_PATH CACHE PATH "directory to the filter proto2cpp.py")
-
-if(NOT DOXYGEN_FOUND)
-
-    message(WARNING  "Doxygen could not be found.")
-
-else()
-
+    FILE open_simulation_interface-targets.cmake
+    NAMESPACE ${PROJECT_NAME}::
+    DESTINATION "${OSI_INSTALL_CMAKE_DIR}"
+    COMPONENT dev)
+
+if(OSI_BUILD_DOCUMENTATION)
+  # add a target to generate API documentation with Doxygen
+  # Dependencies: Doxygen and proto2cpp.py
+  find_package(Doxygen)
+  if(Doxygen_FOUND)
+    set(FILTER_PROTO2CPP_PY_PATH CACHE PATH "directory to the filter proto2cpp.py")
     if(NOT EXISTS ${FILTER_PROTO2CPP_PY_PATH}/proto2cpp.py)
-
-    message(WARNING  "${FILTER_PROTO2CPP_PY_PATH}/proto2cpp.py could not be found.")
-
+      message(WARNING "${FILTER_PROTO2CPP_PY_PATH}/proto2cpp.py could not be found.")
     else()
+      set(doxyfile_in ${CMAKE_CURRENT_SOURCE_DIR}/doxygen_config.cmake.in)
+      set(doxyfile ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
 
-        set(doxyfile_in ${CMAKE_CURRENT_SOURCE_DIR}/doxygen_config.cmake.in)
-        set(doxyfile ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
-
-        configure_file(${doxyfile_in} ${doxyfile} @ONLY)
+      configure_file(${doxyfile_in} ${doxyfile} @ONLY)
 
-        ADD_CUSTOM_TARGET(api_doc ALL
+      add_custom_target(api_doc ALL
         COMMAND ${DOXYGEN_EXECUTABLE} ${doxyfile}
         WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
-
-    endif(NOT EXISTS ${FILTER_PROTO2CPP_PY_PATH}/proto2cpp.py)
-
-endif(NOT DOXYGEN_FOUND)
+    endif()
+  endif()
+endif()

README.md

@@ -91,7 +91,7 @@ Install `pip3` and missing python packages:
 ```bash
 $ sudo apt-get install python3-pip python3-setuptools
 ```
-Install `protobuf` 3.0.0:
+Install `protobuf`:
 ```bash
 $ sudo apt-get install libprotobuf-dev protobuf-compiler
 ```

doc/architecture/architecture_overview.adoc

@@ -29,13 +29,16 @@ The `HostVehicleData` interface describes the measured internal states of a traf
 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.
 
-All fields in an interface are set to `optional`.
+NOTE: OSI uses singular instead of plural for `repeated` field names.
+
+NOTE: 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 no longer has the `required` type.
 Setting all fields to `optional` thus ensures update compatibility.
 However, this does not mean that it is optional to fill the field.
 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.
+NOTE: All field numbers equal to or greater than 10000 are available for user-specific extensions via custom fields.
 No future evolution of OSI will therefore use field numbers equal to or greater than 10000.

doc/architecture/reference_points_coordinate_systems.adoc

@@ -1,4 +1,4 @@
-= Coordinate systems and reference points
+= Coordinate systems, reference points and coordinate transformation
 
 OSI uses DIN ISO 8855:2013-11 cite:[iso8855] for coordinate systems and transformations between coordinate systems.
 OSI uses three coordinate systems: