osi_streamingupdate.proto

syntax = "proto2";

option optimize_for = SPEED;

import "osi_version.proto";
import "osi_common.proto";
import "osi_environment.proto";
import "osi_object.proto";
import "osi_trafficsign.proto";
import "osi_trafficlight.proto";
import "osi_hostvehicledata.proto";

package osi3;

//
// \brief The streaming update interface enables simulation entities to send
// partial updates to other modules that favor performance (especially latency)
// over data completeness/consistency (e.g. visualization applications).
//
// Static and/or non-relevant objects can be omitted as required for the
// specific use case. Adding an object's unique id to the repeated field \c
// obsolete_id indicates that it will no longer be updated from then on.
//
// \note The receiver of partial streaming update messages can only rely on the
// most up-to-date information at the corresponding timestamp. E.g. omitting
// objects does not indicate static behavior but it may be sufficient for the
// use case to update certain objects at a later point in time.
//
message StreamingUpdate
{
    // The interface version used by the sender.
    //
    // \rules
    // is_set
    // \endrules
    //
    optional InterfaceVersion version = 1;

    // The data timestamp where the information of contained objects is calculated. 
    // 
    // Zero time is arbitrary but must be identical for all messages. 
    // Zero time does not need to coincide with the UNIX epoch. 
    // Recommended is the starting time point of the simulation.
    //
    // \rules
    // is_set
    // \endrules
    //
    optional Timestamp timestamp = 2;

    // The list of stationary objects (excluding traffic signs and traffic
    // lights).
    //
    repeated StationaryObject stationary_object_update = 3;

    // The list of moving objects. 
    //
    repeated MovingObject moving_object_update = 4;

    // The list of traffic signs.
    //
    repeated TrafficSign traffic_sign_update = 5;

    // The list of traffic lights.
    //
    repeated TrafficLight traffic_light_update = 6;

    // Conditions of the environment.
    //
    optional EnvironmentalConditions environmental_conditions_update = 7;

    // Host vehicle data.
    //
    // Host vehicle data is data that the host vehicle knows about itself,
    // e.g. from location sensors, internal sensors and ECU bus data, etc.,
    // that is made available to sensors as input.
    //
    // The ID inside this message allows an association to moving object data.
    //
    repeated HostVehicleData host_vehicle_data_update = 8;

    // Entities that will no longer be updated, because they are considered
    // obsolete by the sender.
    //
    // \note IDs are globally unique.
    //
    repeated Identifier obsolete_id = 9;
}