Add Racing sensor

LICENSE.txt

@@ -0,0 +1,22 @@
+MIT License
+
+Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma de
+Barcelona (UAB).
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -39,6 +39,3 @@ if (!stream_in )
 ## Contact
 Please feel free to provide feedback or ask questions by creating a Github issue. For inquiries about collaboration, please email us at sim@soda.auto.
 
-## Copyright and License
-Copyright © 2023 SODA.AUTO UK LTD. ALL RIGHTS RESERVED.  
-This software contains code licensed as described in [LICENSE](https://github.com/soda-auto/SodaSim/blob/master/LICENSE.md).  

include/soda/sim/proto-v1/racing.hpp

@@ -0,0 +1,53 @@
+#pragma once
+
+#include <cstdint>
+
+namespace soda
+{
+namespace sim
+{
+namespace proto_v1 
+{
+
+#pragma pack(push, 1)
+
+struct RacingSensor
+{
+	// Valid only if border_is_valid [m]
+	float left_border_offset;
+
+	// Valid only if border_is_valid [m]
+	float right_border_offset;
+
+	// Valid only if border_is_valid [rad]
+	float center_line_yaw;
+
+	// Valid only if lap_counter_is_valid
+	std::int32_t lap_caunter;
+
+	// Valid only if lap_counter_is_valid [m]
+	float covered_distance_current_lap;
+
+	// [m]
+	float covered_distance_full;
+
+	bool border_is_valid;
+	bool lap_counter_is_valid;
+
+	// [ns]
+	std::int64_t timestemp; 
+
+	// [ns]
+	std::int64_t start_timestemp; 
+
+	// Valid only if lap_counter_is_valid [ns]
+	std::int64_t lap_timestemp;
+};
+
+static_assert(sizeof(float) == 4);
+
+#pragma pack (pop)
+
+} // namespace sim
+} // namespace proto_v1 
+} // namespace soda

include/soda/sim/proto-v1/vehicleState.hpp

@@ -34,12 +34,38 @@ enum class EControlMode : std::uint8_t
 
 };
 
+enum class ESteerReqMode: std::int8_t
+{
+	ByRatio,
+	ByAngle
+};
+
+enum class EDriveEffortReqMode : std::int8_t
+{
+	ByRatio,
+	ByAcc
+};
+
 #pragma pack(push, 1)
 
 struct GenericVehicleControlMode1
 {
-	float steer_req; // [rad]
-	float acc_decel_req; // [m/s^2]
+	union
+	{
+		float by_angle; // [rad]
+		float by_ratio; // [-1..1]
+	} steer_req;
+
+	/** Zero value means change speed as quickly as possible to TargetSpeed */
+	union
+	{
+		float by_acc; // [m/s^2]
+		float by_ratio; // [-1..1]
+	} drive_effort_req;
+
+	/** [cm/s]. Zero TargetSpeed means don't used  */
+	float target_speed_req;	
+
 	EGearState gear_state_req; 
 
 	/** 
@@ -49,6 +75,9 @@ struct GenericVehicleControlMode1
 	 *   - others   - desire gear number;
 	 */
 	std::int8_t gear_num_req; 
+
+	ESteerReqMode steer_req_mode;
+	EDriveEffortReqMode drive_effort_req_mode;
 };
 
 // State estimated by localization.
@@ -65,6 +94,9 @@ struct GenericVehicleState
 	EGearState gear_state; 
 	std::int8_t gear_num;
 	EControlMode mode;
+
+	// [ns]
+	std::int64_t timestemp; 
 };
 
 static_assert(sizeof(float) == 4);