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Add system time to sensor data #789

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thomassedlmayer
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This PR adds a system/component-specific time to OSI SensorData. This could be used to simulate discrepancies between simulation time frame and component time frame. It could also be used to preserve the component's internal timestamps when using OSI for real sensor measurement data while having the simulation timestamp's zero time set to simulation/trace start (as it is recommended by OSI).

Outcome from WP 19: Real sensor data

@thomassedlmayer thomassedlmayer added the Performance&Packaging The Group in the ASAM development project working on improving OSI performance. label Mar 15, 2024
@thomassedlmayer thomassedlmayer added this to the V3.7.0 milestone Mar 15, 2024
@thomassedlmayer thomassedlmayer requested review from pmai and thempen March 15, 2024 08:41
@PhRosenberger PhRosenberger self-requested a review March 21, 2024 09:50
@thomassedlmayer thomassedlmayer marked this pull request as ready for review March 22, 2024 09:23
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Looks good with the proposed rewording to better set expectations.

osi_sensordata.proto Outdated Show resolved Hide resolved
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@thempen thempen left a comment

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Looks good. I don't see any downsides in introducing this field.

@thempen thempen added the ReadyForCCBReview Indicates that this MR is ready for a final review and merge by the CCB. label Mar 25, 2024
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The only remark I have is that this time could be different in different sensors that are running on the same car, so putting these fields in each DetectionData could provide the flexibility to reflect such scenarios. I mean, when there are multiple lidars witch more than 1 LidarDetectionData, each could have different real world time stamps, right?
Let's further discuss in the meeting :-)

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pmai commented Mar 25, 2024

The only remark I have is that this time could be different in different sensors that are running on the same car, so putting these fields in each DetectionData could provide the flexibility to reflect such scenarios. I mean, when there are multiple lidars witch more than 1 LidarDetectionData, each could have different real world time stamps, right? Let's further discuss in the meeting :-)

That would be an additional change, if that is wanted; right now the system time is the time of the source of the sensordata, so for a single sensor it is its time, after e.g. sensor fusion it is the system time of the sensor fusion unit, etc. If someone wants to keep track of all of this across, and need to funnel this into OSI rather than measuring at multiple points, and they need something different than the detection time stamps, then another field could be added later on. A lot of ifs though.

@pmai pmai added ReadyToMerge This PR has been approved to merge and will be merged by a member of the CCB. and removed ReadyForCCBReview Indicates that this MR is ready for a final review and merge by the CCB. labels Mar 25, 2024
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pmai commented Mar 25, 2024

CCB 2024-03-25: Merge as-is after conflicts resolved.

thomassedlmayer and others added 2 commits March 25, 2024 13:05
@pmai pmai force-pushed the feature/sensordata-system-time branch from f0ae527 to c050a93 Compare March 25, 2024 12:07
@pmai pmai merged commit 138c6f1 into OpenSimulationInterface:master Mar 25, 2024
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jdsika commented Apr 24, 2024

Reviewed for v3.7.0

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5 participants