Add and use TrafficCommand input and TrafficCommandUpdate output

[ClemensLinnhoff]

Reference to a related issue in the repository

3

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• [x] Add TrafficCommand input and TrafficCommandUpdate output
• [x] Implement example reaction to incoming traffic action
• [x] Implement example dismissal as TrafficCommandUpdate

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• [x] My suggestion follows the governance rules.
• [x] All commits of this PR are signed.
• [x] My changes generate no errors when passing CI tests.
• [x] I updated all documentation (readmes incl. figures) according to my changes.
• [x] I have successfully implemented and tested my fix/feature locally.
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[jdsika]

This is an improvement for you @nocll - feel free to exchange with @ClemensLinnhoff and review

[nocll]

@jdsika This PR would facilitate modeling non-ego traffic agents with the template. So the agent can get action commands from a scenario engine, and can reply if the action was completed. This is of course an improvement for the template. Also good to be consistent with OSI spec.

However, this is not a feature I would use for now:

• For our use case we will focus first on packing the ego vehicle in this FMU template. So action commands do not apply
• Using this also requires re-working the environment simulator to send the TrafficCommand messages

On a related question -- maybe more an OSI issue: In this definition do you know why SensorData input is not considered for the Traffic participant models?

• One could model a sensor with SensorData output, sending this information to a controller which decides how/where to move the agent
• This interface for a Traffic Participant (input: SensorData, output: TrafficUpdate) would be interesting for ego vehicle modeling

[ClemensLinnhoff]

On a related question -- maybe more an OSI issue: In this definition do you know why SensorData input is not considered for the Traffic participant models?

I fully agree. There should be a model type, that receives a SensorData and outputs a TrafficUpdate. I already created an issue in OSMP a while back to discuss this: https://github.com/OpenSimulationInterface/osi-sensor-model-packaging/issues/102 It would be great, if you could comment there, to stress, that this is something, that is actually needed.

[ClemensLinnhoff]

• Using this also requires re-working the environment simulator to send the TrafficCommand messages

We are already working on enabling esmini to provide the TrafficCommand message: https://github.com/esmini/esmini/issues/499

[nocll]

It would be great, if you could comment there, to stress, that this is something, that is actually needed.

Ah good! OK I added a comment there.

[github-actions[bot]]

Cpp-Linter Report :warning:

Some files did not pass the configured checks!

clang-tidy reports: 25 concern(s)

- **src/MyTrafficParticipantModel.h:50:21:** warning: [[cppcoreguidelines-avoid-non-const-global-variables](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/avoid-non-const-global-variables.html)] > variable 'private_log_file' is non-const and globally accessible, consider making it const ```h static ofstream private_log_file; ^ /home/runner/work/sl-2-0-traffic-participant-model-repository-template/sl-2-0-traffic-participant-model-repository-template/src/MyTrafficParticipantModel.h:82:21: warning: 1024 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers] char buffer[1024]; ^ /home/runner/work/sl-2-0-traffic-participant-model-repository-template/sl-2-0-traffic-participant-model-repository-template/src/MyTrafficParticipantModel.h:86:27: warning: 1024 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers] vsnprintf(buffer, 1024, format, arg); ^ ``` - **src/OSMP.cpp:50:16:** warning: [[cppcoreguidelines-avoid-non-const-global-variables](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/avoid-non-const-global-variables.html)] > variable 'private_log_file' is non-const and globally accessible, consider making it const ```cpp ofstream OSMP::private_log_file; ^ ``` - **src/OSMP.cpp:60:5:** warning: [[cppcoreguidelines-pro-type-member-init](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-type-member-init.html)] > uninitialized record type: 'myaddr' ```cpp union Addrconv ^ ``` - **src/OSMP.cpp:69:12:** warning: [[cppcoreguidelines-pro-type-union-access](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-type-union-access.html)] > do not access members of unions; use (boost::)variant instead ```cpp myaddr.base.lo = lo; ^ ``` - **src/OSMP.cpp:70:12:** warning: [[cppcoreguidelines-pro-type-union-access](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-type-union-access.html)] > do not access members of unions; use (boost::)variant instead ```cpp myaddr.base.hi = hi; ^ ``` - **src/OSMP.cpp:71:12:** warning: [[cppcoreguidelines-pro-type-reinterpret-cast](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-type-reinterpret-cast.html)] > do not use reinterpret_cast ```cpp return reinterpret_cast(myaddr.address); ^ ``` - **src/OSMP.cpp:71:43:** warning: [[cppcoreguidelines-pro-type-union-access](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-type-union-access.html)] > do not access members of unions; use (boost::)variant instead ```cpp return reinterpret_cast(myaddr.address); ^ ``` - **src/OSMP.cpp:82:5:** warning: [[cppcoreguidelines-pro-type-member-init](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-type-member-init.html)] > uninitialized record type: 'myaddr' ```cpp union Addrconv ^ ``` - **src/OSMP.cpp:91:12:** warning: [[cppcoreguidelines-pro-type-union-access](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-type-union-access.html)] > do not access members of unions; use (boost::)variant instead ```cpp myaddr.address = reinterpret_cast(ptr); ^ ``` - **src/OSMP.cpp:91:22:** warning: [[cppcoreguidelines-pro-type-reinterpret-cast](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-type-reinterpret-cast.html)] > do not use reinterpret_cast ```cpp myaddr.address = reinterpret_cast(ptr); ^ ``` - **src/OSMP.cpp:92:17:** warning: [[cppcoreguidelines-pro-type-union-access](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-type-union-access.html)] > do not access members of unions; use (boost::)variant instead ```cpp hi = myaddr.base.hi; ^ ``` - **src/OSMP.cpp:93:17:** warning: [[cppcoreguidelines-pro-type-union-access](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-type-union-access.html)] > do not access members of unions; use (boost::)variant instead ```cpp lo = myaddr.base.lo; ^ ``` - **src/OSMP.cpp:263:18:** warning: [[readability-convert-member-functions-to-static](https://clang.llvm.org/extra/clang-tidy/checks/readability/convert-member-functions-to-static.html)] > method 'DoStart' can be made static ```cpp fmi2Status OSMP::DoStart(fmi2Boolean tolerance_defined, fmi2Real tolerance, fmi2Real start_time, fmi2Boolean stop_time_defined, fmi2Real stop_time) ^ ``` - **src/OSMP.cpp:268:18:** warning: [[readability-convert-member-functions-to-static](https://clang.llvm.org/extra/clang-tidy/checks/readability/convert-member-functions-to-static.html)] > method 'DoEnterInitializationMode' can be made static ```cpp fmi2Status OSMP::DoEnterInitializationMode() ^ ``` - **src/OSMP.cpp:337:18:** warning: [[readability-convert-member-functions-to-static](https://clang.llvm.org/extra/clang-tidy/checks/readability/convert-member-functions-to-static.html)] > method 'DoTerm' can be made static ```cpp fmi2Status OSMP::DoTerm() ^ ``` - **src/OSMP.cpp:348:1:** warning: [[cppcoreguidelines-pro-type-member-init](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-type-member-init.html)] > constructor does not initialize these fields: boolean_vars_, integer_vars_, real_vars_ ```cpp OSMP::OSMP(fmi2String theinstance_name, ^ ``` - **src/OSMP.cpp:508:24:** warning: [[cppcoreguidelines-pro-bounds-constant-array-index](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-bounds-constant-array-index.html)] > do not use array subscript when the index is not an integer constant expression ```cpp value[i] = real_vars_[vr[i]]; ^ ``` - **src/OSMP.cpp:532:24:** warning: [[cppcoreguidelines-pro-bounds-constant-array-index](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-bounds-constant-array-index.html)] > do not use array subscript when the index is not an integer constant expression ```cpp value[i] = integer_vars_[vr[i]]; ^ ``` - **src/OSMP.cpp:549:24:** warning: [[cppcoreguidelines-pro-bounds-constant-array-index](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-bounds-constant-array-index.html)] > do not use array subscript when the index is not an integer constant expression ```cpp value[i] = boolean_vars_[vr[i]]; ^ ``` - **src/OSMP.cpp:566:24:** warning: [[cppcoreguidelines-pro-bounds-constant-array-index](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-bounds-constant-array-index.html)] > do not use array subscript when the index is not an integer constant expression ```cpp value[i] = string_vars_[vr[i]].c_str(); ^ ``` - **src/OSMP.cpp:583:13:** warning: [[cppcoreguidelines-pro-bounds-constant-array-index](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-bounds-constant-array-index.html)] > do not use array subscript when the index is not an integer constant expression ```cpp real_vars_[vr[i]] = value[i]; ^ ``` - **src/OSMP.cpp:600:13:** warning: [[cppcoreguidelines-pro-bounds-constant-array-index](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-bounds-constant-array-index.html)] > do not use array subscript when the index is not an integer constant expression ```cpp integer_vars_[vr[i]] = value[i]; ^ ``` - **src/OSMP.cpp:617:13:** warning: [[cppcoreguidelines-pro-bounds-constant-array-index](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-bounds-constant-array-index.html)] > do not use array subscript when the index is not an integer constant expression ```cpp boolean_vars_[vr[i]] = value[i]; ^ ``` - **src/OSMP.cpp:634:13:** warning: [[cppcoreguidelines-pro-bounds-constant-array-index](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/pro-bounds-constant-array-index.html)] > do not use array subscript when the index is not an integer constant expression ```cpp string_vars_[vr[i]] = value[i]; ^ ``` - **src/OSMP.h:140:21:** warning: [[cppcoreguidelines-avoid-non-const-global-variables](https://clang.llvm.org/extra/clang-tidy/checks/cppcoreguidelines/avoid-non-const-global-variables.html)] > variable 'private_log_file' is non-const and globally accessible, consider making it const ```h static ofstream private_log_file; ^ /home/runner/work/sl-2-0-traffic-participant-model-repository-template/sl-2-0-traffic-participant-model-repository-template/src/OSMP.h:172:21: warning: 1024 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers] char buffer[1024]; ^ /home/runner/work/sl-2-0-traffic-participant-model-repository-template/sl-2-0-traffic-participant-model-repository-template/src/OSMP.h:176:27: warning: 1024 is a magic number; consider replacing it with a named constant [cppcoreguidelines-avoid-magic-numbers,readability-magic-numbers] vsnprintf(buffer, 1024, format, arg); ^ ```

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[ClemensLinnhoff]

@jdsika reminder to review