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SL-5-2 OSI Field Checker

This FMU checks if fields are missing in a received SensorData. It is meant to be used in a co-simulation connected to the output of the model under test. It will output missing osi fields in the format of GitHub annotations, so that it can be used directly in a GitHub CI pipeline. The image below shows an example of a failed pipeline due to missing OSI fields in the SensorData.

OSI Field Checker in CI Pipeline

Parameterization

As parameters, the OSI Field Checker FMU needs the individual OSI fields to check. The required fields are defined in a .txt file. An example file can be found in example_check_file/. The path to this txt file has to be passed as fmi parameter string check_file.

Currently, the FMU is able to check for the following fields based on the osi_check.txt file:

  • moving_object
  • moving_object.base
  • moving_object.base.position
  • moving_object.base.orientation
  • moving_object.base.velocity
  • moving_object.base.acceleration
  • moving_object.base.orientation_rate
  • moving_object.base.orientation_acceleration
  • moving_object.base.base_polygon

Interface

The FMU expects an OSI3::SensorData message as input.

Build Instructions

Protobuf needs to be installed on your systems as a dependency.

Build Model in Ubuntu 18.04 / 20.04 / 22.04

  1. Clone this repository with submodules:

    git clone https://github.com/openMSL/sl-5-2-osi-field-checker.git --recurse-submodules

  2. Build the model by executing in the extracted project root directory:

    mkdir cmake-build
cd cmake-build
# If FMU_INSTALL_DIR is not set, CMAKE_BINARY_DIR is used
cmake -DCMAKE_BUILD_TYPE=Release -DFMU_INSTALL_DIR:PATH=/tmp ..
cmake --build .

  3. Take FMU from FMU_INSTALL_DIR

The OSI Field Checker FMU can now be used in a co-simulation connected to the output of the model under test.