From 7f2f7089bfacff927c11666411c28cf72689f2ff Mon Sep 17 00:00:00 2001
From: Radhakrishna Kothamasu <45497122+Krishna626@users.noreply.github.com>
Date: Mon, 17 Aug 2020 11:36:23 +0200
Subject: [PATCH 01/12] Update osi_hostvehicledata.proto

- suggestion for protobuf description
- replaced engine with motor to avoid explicitly defining engine for interfaces
- reorganised wheel arragement--> anti clockwise starting from front left wheel
- Naming suggestion for VehicleLocalization--> renamed as Vehicle GEOPosition
---
 osi_hostvehicledata.proto | 31 ++++++++++++++++---------------
 1 file changed, 16 insertions(+), 15 deletions(-)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index b607bc6c1..288bb7f30 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -7,10 +7,10 @@ import "osi_common.proto";
 package osi3;
 
 //
-// \brief Interface for host vehicle data that is available to sensors and
-// other functions due to host vehicle's internal communication.
-// A usage regarding the vehicle model is also possible.
-//
+// \brief Interface for updating internal states of host vehicle data to simulation environment. 
+// Sensors, mockups and other functions can access the host vehicle data.
+// A Usecase like simulation of vehicle model is also possible by extending the OSI with host vehicle data.
+
 // \image html OSI_HostVehicle.svg
 //
 // All coordinates and orientations are relative to the global ground truth
@@ -72,7 +72,7 @@ message HostVehicleDataClass
 
     // Interface regarding the navigation.
     //
-    optional VehicleLocalization vehicle_localization = 6;
+    optional VehicleGEOPosition Vehicle_geo_Position = 6;
     
     //
     // \brief The absolute base parameters of the vehicle.
@@ -106,17 +106,17 @@ message HostVehicleDataClass
         //
         optional Pedalry pedalry = 1;
 
-        // Rounds per minute of the engine.
+        // Rounds per minute of the engine. RPM can be from E-Motor/ Engine.
         //
         // Unit: [1/min]
         //
-        optional double engine_rpm = 2;
+        optional double motor_rpm = 2;
 
-        // Torque in Nm.
+        // Torque in Nm. It can either be from Engine/E-Motor or combined Torque values.
         //
         // Unit: [N*m]
         //
-        optional double engine_torque = 3;
+        optional double motor_torque = 3;
 
         // The actual gear of the gear lever.
         //
@@ -297,20 +297,21 @@ message HostVehicleDataClass
                 //
                 ARRANGEMENT_OTHER = 1;
 
+                // Arragement of the wheels in counter clock-wise direction starting from front-left wheel.
                 // The description is about the front-left wheel.
                 //
                 ARRANGEMENT_FRONT_LEFT = 2;
 
-                // The description is about the front-right wheel.
-                //
-                ARRANGEMENT_FRONT_RIGHT = 3;
-
                 // The description is about the rear-left wheel.
                 //
-                ARRANGEMENT_REAR_LEFT = 4;
+                ARRANGEMENT_REAR_LEFT = 3;
 
                 // The description is about the rear-right wheel.
                 //
+                ARRANGEMENT_FRONT_RIGHT = 4;
+
+                // The description is about the front-right wheel.
+                //
                 ARRANGEMENT_REAR_RIGHT = 5;
             }
         }
@@ -319,7 +320,7 @@ message HostVehicleDataClass
     //
     // \brief This message contains all the necessary information of the localization solution.
     //
-    message VehicleLocalization
+    message VehicleGEOPosition
     {
         // Longitude in decimal degrees.
         //

From fadcacd13f8fd848703df58b25f6567f3bb7d481 Mon Sep 17 00:00:00 2001
From: Thomas Nader <thomas.nader@bmw.de>
Date: Tue, 18 Aug 2020 12:10:48 +0200
Subject: [PATCH 02/12] Update osi_hostvehicledata.proto

Made some adaptions, so it can be build.
Also some  simplifications, so it is not to much at the beginning.
---
 osi_hostvehicledata.proto | 43 +++++----------------------------------
 1 file changed, 5 insertions(+), 38 deletions(-)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index 288bb7f30..f62ed56db 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -72,7 +72,7 @@ message HostVehicleDataClass
 
     // Interface regarding the navigation.
     //
-    optional VehicleGEOPosition Vehicle_geo_Position = 6;
+    optional VehicleGEOPosition vehicle_geo_position = 6;
     
     //
     // \brief The absolute base parameters of the vehicle.
@@ -119,8 +119,9 @@ message HostVehicleDataClass
         optional double motor_torque = 3;
 
         // The actual gear of the gear lever.
+        // May come up later. For now just to be mentioned.
         //
-        optional GearLeverState gear_lever_state = 4;
+        // optional GearLeverState gear_lever_state = 4;
         
         // The actual gear of the transmission.
         // E.g. gear_lever can be in "D" and transmission in "4", but not the
@@ -134,40 +135,6 @@ message HostVehicleDataClass
         //
         optional int32 gear_transmission = 5;
         
-        // Describe the possible mode of an automatic transmission.
-        //
-        enum AutomaticTransmissionMode
-        {
-            // The gear transmission mode is unknown (must not be
-            // used in ground truth).
-            //
-            AUTOMATIC_TRANSMISSION_MODE_UNKNOWN = 0;
-
-            // Other (unspecified but known) transmisson mode.
-            //
-            AUTOMATIC_TRANSMISSION_MODE_OTHER = 1;
-        
-            // The gear lever is in automatic parking mode.
-            //
-            AUTOMATIC_TRANSMISSION_MODE_PARK = 2;
-
-            // The gear lever is in reverse motion mode.
-            //
-            AUTOMATIC_TRANSMISSION_MODE_REVERSE = 3;
-
-            // The gear lever is in automatic neutral mode.
-            //
-            AUTOMATIC_TRANSMISSION_MODE_NEUTRAL = 4;
-
-            // The gear lever is in automatic driving mode.
-            //
-            AUTOMATIC_TRANSMISSION_MODE_DRIVE = 5;
-
-            // The gear lever is in a manual override mode.
-            //
-            AUTOMATIC_TRANSMISSION_MODE_MANUAL_OVERRIDE = 6;
-        }
-        
         //
         // \brief A description for the positions of the pedals.
         //
@@ -268,7 +235,7 @@ message HostVehicleDataClass
             //
             // Unit: [rad]
             //
-            optional double steeringangle = 5;
+            optional double steering_angle = 5;
             
             // Contains the relativ position of the center of the wheel to the center of the bounding-box.
             // Possibility to get the spring deflection and the camber (https://en.wikipedia.org/wiki/Camber_angle).
@@ -283,7 +250,7 @@ message HostVehicleDataClass
             //
             // Unit: [%]
             //
-            optional double slip = 8;
+            optional double slip = 7;
             
             // Information about how the wheel is arranged.
             //

From 63dc2dd5a4a3f73eec5ef0f6a53e996dcb8152c2 Mon Sep 17 00:00:00 2001
From: Thomas Nader <thomas.nader@bmw.de>
Date: Tue, 18 Aug 2020 18:39:20 +0200
Subject: [PATCH 03/12] Update osi_hostvehicledata.proto

---
 osi_hostvehicledata.proto | 1 +
 1 file changed, 1 insertion(+)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index f62ed56db..63775d7ba 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -3,6 +3,7 @@ syntax = "proto2";
 option optimize_for = SPEED;
 
 import "osi_common.proto";
+import "osi_object.proto";
 
 package osi3;
 

From 0cf99e4fc4f9c6c0e25675da02a19611b08b21da Mon Sep 17 00:00:00 2001
From: Thomas Nader <thomas.nader@bmw.de>
Date: Thu, 20 Aug 2020 17:31:54 +0200
Subject: [PATCH 04/12] Update osi_hostvehicledata.proto

---
 osi_hostvehicledata.proto | 30 +++++++++++++++---------------
 1 file changed, 15 insertions(+), 15 deletions(-)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index 63775d7ba..6b9f6e3e8 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -33,16 +33,16 @@ message HostVehicleData
     // \note Note that dimension and base_polygon need not be set.
     //
     optional BaseMoving location_rmse = 2;
-    
+
     // Contains all the perceivable information.
     //
     optional MovingObject moving_object = 3;
-    
+
     // Contains all the non-perceivable information.
     //
     optional HostVehicleDataClass host_vehicle_data = 4;
 }
-    
+
 //
 // \brief The vehicle-class is a deeper description of a vehicle about the non-perceivable information.
 // It consists of different messages categorizing the vehicle in:
@@ -54,11 +54,11 @@ message HostVehicleDataClass
     // The basic parameters of the vehicle.
     //
     optional VehicleBasics vehicle_basics = 1;
-    
+
     // Interface regarding the powermanagement.
     //
     optional VehiclePowermanagement vehicle_powermanagement = 2;
-    
+
     // Interface regarding the powertrain.
     //
     optional VehiclePowertrain vehicle_powertrain = 3;
@@ -74,7 +74,7 @@ message HostVehicleDataClass
     // Interface regarding the navigation.
     //
     optional VehicleGEOPosition vehicle_geo_position = 6;
-    
+
     //
     // \brief The absolute base parameters of the vehicle.
     //
@@ -85,11 +85,11 @@ message HostVehicleDataClass
         // Unit: [kg]
         //
         // \par Reference:
-        // §42 der StVZO (german Straßenverkehrs-Zulassungs-Ordnung; engl. Road Traffic Regulations)
+        // Paragraph 42 of the StVZO (ger. Straßenverkehrs-Zulassungs-Ordnung; engl. Road Traffic Regulations)
         //
         optional double curb_weight = 1;
     }
-    
+
     //
     // \brief State description of the powertrain.
     //
@@ -123,7 +123,7 @@ message HostVehicleDataClass
         // May come up later. For now just to be mentioned.
         //
         // optional GearLeverState gear_lever_state = 4;
-        
+
         // The actual gear of the transmission.
         // E.g. gear_lever can be in "D" and transmission in "4", but not the
         // other way around.
@@ -135,7 +135,7 @@ message HostVehicleDataClass
         //   reverse mode gears)
         //
         optional int32 gear_transmission = 5;
-        
+
         //
         // \brief A description for the positions of the pedals.
         //
@@ -186,7 +186,7 @@ message HostVehicleDataClass
         //
         optional double torque = 3;
     }
-    
+
     //
     // \brief The focus here is on the description of the wheels.
     //
@@ -204,7 +204,7 @@ message HostVehicleDataClass
             // Information about how the wheel is arranged.
             //
             optional Arrangement arrangement = 1;
-            
+
             // Dry friction is a force that opposes the relative lateral motion of two solid surfaces 
             // in contact. It is subdivided into static friction between non-moving surfaces and kinetic
             // friction between moving surfaces.
@@ -230,14 +230,14 @@ message HostVehicleDataClass
             // Unit: [rad/s]
             //
             optional double rotational_speed = 4;
-            
+
             // Contains the steering angle of each wheel.
             // Right < 0; 0 = straight; 0 < left.
             //
             // Unit: [rad]
             //
             optional double steering_angle = 5;
-            
+
             // Contains the relativ position of the center of the wheel to the center of the bounding-box.
             // Possibility to get the spring deflection and the camber (https://en.wikipedia.org/wiki/Camber_angle).
             //
@@ -252,7 +252,7 @@ message HostVehicleDataClass
             // Unit: [%]
             //
             optional double slip = 7;
-            
+
             // Information about how the wheel is arranged.
             //
             enum Arrangement

From 9d78a7834d598a9d3c097b238c00bf3b361519c6 Mon Sep 17 00:00:00 2001
From: Thomas Nader <thomas.nader@bmw.de>
Date: Mon, 31 Aug 2020 18:15:09 +0200
Subject: [PATCH 05/12] Update osi_hostvehicledata.proto

---
 osi_hostvehicledata.proto | 103 +++++++++++++++++++++-----------------
 1 file changed, 58 insertions(+), 45 deletions(-)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index 6b9f6e3e8..03b5f81da 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -14,8 +14,7 @@ package osi3;
 
 // \image html OSI_HostVehicle.svg
 //
-// All coordinates and orientations are relative to the global ground truth
-// coordinate system.
+// All coordinates and orientations are relative to the global ground truth coordinate system.
 //
 message HostVehicleData
 {
@@ -73,7 +72,7 @@ message HostVehicleDataClass
 
     // Interface regarding the navigation.
     //
-    optional VehicleGEOPosition vehicle_geo_position = 6;
+    optional VehicleLocalization vehicle_localization = 6;
 
     //
     // \brief The absolute base parameters of the vehicle.
@@ -82,10 +81,10 @@ message HostVehicleDataClass
     {
         // The total mass of the vehicle (curb weight). 
         //
-        // Unit: [kg]
+        // Unit: kg
         //
         // \par Reference:
-        // Paragraph 42 of the StVZO (ger. Straßenverkehrs-Zulassungs-Ordnung; engl. Road Traffic Regulations)
+        // Paragraph 42 of the German Road Traffic Admission Regulations (StVZO).
         //
         optional double curb_weight = 1;
     }
@@ -109,13 +108,13 @@ message HostVehicleDataClass
 
         // Rounds per minute of the engine. RPM can be from E-Motor/ Engine.
         //
-        // Unit: [1/min]
+        // Unit: 1/min
         //
         optional double motor_rpm = 2;
 
         // Torque in Nm. It can either be from Engine/E-Motor or combined Torque values.
         //
-        // Unit: [N*m]
+        // Unit: N*m
         //
         optional double motor_torque = 3;
 
@@ -139,21 +138,20 @@ message HostVehicleDataClass
         //
         // \brief A description for the positions of the pedals.
         //
-        //
         message Pedalry
         {
             // Position of the acceleration-pedal.
-            // Unit: [0-1] (Unpressed - fully pressed)
+            // Range: 0-1 (Unpressed - fully pressed)
             //
             optional double pedal_position_acceleration = 1;
 
             // Position of the brake-pedal.
-            // Unit: [0-1] (Unpressed - fully pressed)
+            // Range: 0-1 (Unpressed - fully pressed)
             //
             optional double pedal_position_brake = 2;
 
             // Position of the clutch-pedal.
-            // Unit: [0-1] (Unpressed - fully pressed)
+            // Range: 0-1 (Unpressed - fully pressed)
             //
             optional double pedal_position_clutch = 3;
         }
@@ -168,21 +166,21 @@ message HostVehicleDataClass
         // Angle of the steering wheel. 
         // 0=Central (Straight); Left>0; 0>Right.
         //
-        // Unit: [rad]
+        // Unit: rad
         //
         optional double angle = 1;
 
         // Angle-speed of the steering wheel.
         // 0=Central (Straight); Left>0; 0>Right.
         //
-        // Unit: [rad/s]
+        // Unit: rad/s
         //
         optional double angular_speed = 2;
 
         // Torque of the steering wheel to the hand.
         // 0=Central (Straight); Left>0; 0>Right.
         //
-        // Unit: [N*m]
+        // Unit: N*m
         //
         optional double torque = 3;
     }
@@ -211,7 +209,7 @@ message HostVehicleDataClass
             // Ued here is the dry friction coefficient of the paired materials (see reference).
             // Dimensionless.
             //
-            // Unit: []
+            // Unit: -
             //
             // \par References:
             // - http://adaptivemap.ma.psu.edu/websites/6_friction/dry_friction/dryfriction.html
@@ -221,27 +219,27 @@ message HostVehicleDataClass
             // Contact point of the mid of the tire tread with the world.
             // Absolute coordinates (x, y, z).
             //
-            // Unit: [m]
+            // Unit: m
             //
             optional Vector3d contact_point = 3;
 
             // Contains the rotational speed of each wheel per second.
             //
-            // Unit: [rad/s]
+            // Unit: rad/s
             //
             optional double rotational_speed = 4;
 
             // Contains the steering angle of each wheel.
             // Right < 0; 0 = straight; 0 < left.
             //
-            // Unit: [rad]
+            // Unit: rad
             //
             optional double steering_angle = 5;
 
             // Contains the relativ position of the center of the wheel to the center of the bounding-box.
             // Possibility to get the spring deflection and the camber (https://en.wikipedia.org/wiki/Camber_angle).
             //
-            // Unit: [m]
+            // Unit: m
             //
             optional MountingPosition position = 6;
 
@@ -249,7 +247,7 @@ message HostVehicleDataClass
             // \par References:
             // - https://www.kfz-tech.de/Biblio/Formelsammlung/Schlupf.htm
             //
-            // Unit: [%]
+            // Unit: %
             //
             optional double slip = 7;
 
@@ -288,40 +286,55 @@ message HostVehicleDataClass
     //
     // \brief This message contains all the necessary information of the localization solution.
     //
-    message VehicleGEOPosition
+    message VehicleLocalization
     {
-        // Longitude in decimal degrees.
         //
-        // Unit: [degree]
+        // \brief This message contains information about the vehicle's knowledge about its own cartesian position.
         //
-        optional double longitude = 1;
+        message CartesianPosition
+        {
+            // To be discussed.
+        }
 
-        // Latitude in decimal degrees.
         //
-        // Unit: [degree]
+        // \brief This message contains information about the vehicle's georeferenced positioning solution component.
         //
-        optional double latitude = 2;
+        message GeoreferencedPosition
+        {
+            // Longitude in decimal degrees regarding WGS84.
+            //
+            // Unit: Degree
+            //
+            optional double longitude = 1;
 
-        // Altitude in meters.
-        //
-        // Unit: [m]
-        //
-        optional double altitude = 3;
+            // Latitude in decimal degrees regarding WGS84.
+            //
+            // Unit: Degree
+            //
+            optional double latitude = 2;
 
-        // Heading in degrees.
-        //
-        // Unit: [degree]
-        //
-        optional double heading = 4;
+            // Height above sea level regarding EGM96.
+            //
+            // Unit: m
+            //
+            optional double altitude = 3;
 
-        // Accuracy of localization measurement measured in percentage of the units 
-        //
-        // Unit: [%]
-        //
-        optional double localization_accuracy = 5;
+            // To be discussed: 
+            // Heading in decimal degrees.
+            //
+            // Unit: Degree
+            //
+            // optional double heading = 4;
 
-        // Number of satellites 
-        //
-        optional int32 number_of_satellites = 6;    
+            // Accuracy of localization measurement in percentage of the units.
+            //
+            // Unit: %
+            //
+            // optional double localization_accuracy = 5;
+
+            // Number of satellites.
+            //
+            // optional int32 number_of_satellites = 6;
+        }
     }    
 }

From 959517ef2b77866004f83cb1495ebe1318024809 Mon Sep 17 00:00:00 2001
From: Thomas Nader <thomas.nader@bmw.de>
Date: Tue, 1 Sep 2020 14:50:40 +0200
Subject: [PATCH 06/12] Update osi_hostvehicledata.proto

---
 osi_hostvehicledata.proto | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index 03b5f81da..734df0543 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -95,6 +95,7 @@ message HostVehicleDataClass
     message VehiclePowermanagement
     {
         // To be discussed.
+        //
     }
     
     //
@@ -294,6 +295,7 @@ message HostVehicleDataClass
         message CartesianPosition
         {
             // To be discussed.
+            //
         }
 
         //

From bb74fa62db7f9053fbde0508c8df8455a4c8567f Mon Sep 17 00:00:00 2001
From: Thomas Nader <thomas.nader@bmw.de>
Date: Tue, 8 Sep 2020 19:39:38 +0200
Subject: [PATCH 07/12] Update osi_hostvehicledata.proto

Some improvements regarding architectural issues and out of definition reasons.
---
 osi_hostvehicledata.proto | 190 ++++++++++++++++++++++----------------
 1 file changed, 112 insertions(+), 78 deletions(-)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index 734df0543..774f2efbc 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -2,6 +2,7 @@ syntax = "proto2";
 
 option optimize_for = SPEED;
 
+import "osi_version.proto";
 import "osi_common.proto";
 import "osi_object.proto";
 
@@ -32,47 +33,75 @@ message HostVehicleData
     // \note Note that dimension and base_polygon need not be set.
     //
     optional BaseMoving location_rmse = 2;
+    
+    // The interface version used by the sender (i.e. the simulation
+    // environment).
+    //
+    optional InterfaceVersion version = 3;
+
+    // The data timestamp of the simulation environment. The zero time point is
+    // arbitrary but must be identical for all messages.
+    // Recommendation: Zero time point for start point of the simulation.
+    //
+    // \note Zero time point does not need to coincide with the UNIX epoch.
+    //
+    // \note For ground truth data this timestamp coincides both with the
+    // notional simulation time the data applies to and the time it was sent
+    // (there is no inherent latency for ground truth data, as opposed to
+    // sensor data).
+    //
+    optional Timestamp timestamp = 4;
 
     // Contains all the perceivable information.
     //
-    optional MovingObject moving_object = 3;
+    optional MovingObject moving_object = 5;
 
-    // Contains all the non-perceivable information.
+    // Contains all the non-perceivable information, that is measured or 
+    // calculated and transported by the board net.
     //
-    optional HostVehicleDataClass host_vehicle_data = 4;
+    optional HostVehicleDataClass host_vehicle_data = 6;
 }
 
 //
-// \brief The vehicle-class is a deeper description of a vehicle about the non-perceivable information.
+// \brief The vehicle-class is about the non-perceivable information, that is measured or 
+// calculated and transported by the board net.
 // It consists of different messages categorizing the vehicle in:
 // Vehicle-Basics, Vehicle-Powermanagement, Vehicle-Powertrain, Vehicle-SteeringWheel, Vehicle-Wheels, Vehicle-Localization.
 // As it is an description of the whole vehicle (focus on cars) it can be used as interface for various reasons. 
 //
 message HostVehicleDataClass
 {
+    // The ID of the object.
+    //
+    // \rules
+    // is_globally_unique
+    // \endrules
+    //
+    optional Identifier id = 1;
+    
     // The basic parameters of the vehicle.
     //
-    optional VehicleBasics vehicle_basics = 1;
+    optional VehicleBasics vehicle_basics = 2;
 
     // Interface regarding the powermanagement.
     //
-    optional VehiclePowermanagement vehicle_powermanagement = 2;
+    optional VehiclePowermanagement vehicle_powermanagement = 3;
 
     // Interface regarding the powertrain.
     //
-    optional VehiclePowertrain vehicle_powertrain = 3;
+    optional VehiclePowertrain vehicle_powertrain = 4;
 
     // Interface regarding the steering wheel.
     //
-    optional VehicleSteeringWheel vehicle_steering_wheel = 4;
+    optional VehicleSteeringWheel vehicle_steering_wheel = 5;
 
     // Interface regarding the wheels.
     //
-    optional VehicleWheels vehicle_wheels = 5;
+    optional VehicleWheels vehicle_wheels = 6;
 
     // Interface regarding the navigation.
     //
-    optional VehicleLocalization vehicle_localization = 6;
+    optional VehicleLocalization vehicle_localization = 7;
 
     //
     // \brief The absolute base parameters of the vehicle.
@@ -107,22 +136,10 @@ message HostVehicleDataClass
         //
         optional Pedalry pedalry = 1;
 
-        // Rounds per minute of the engine. RPM can be from E-Motor/ Engine.
-        //
-        // Unit: 1/min
-        //
-        optional double motor_rpm = 2;
-
-        // Torque in Nm. It can either be from Engine/E-Motor or combined Torque values.
-        //
-        // Unit: N*m
-        //
-        optional double motor_torque = 3;
-
         // The actual gear of the gear lever.
         // May come up later. For now just to be mentioned.
         //
-        // optional GearLeverState gear_lever_state = 4;
+        // optional GearLeverState gear_lever_state = 2;
 
         // The actual gear of the transmission.
         // E.g. gear_lever can be in "D" and transmission in "4", but not the
@@ -134,7 +151,11 @@ message HostVehicleDataClass
         // - negative: reverse mode (generally -1, but few vehicles have several
         //   reverse mode gears)
         //
-        optional int32 gear_transmission = 5;
+        optional int32 gear_transmission = 3;
+        
+        // Information about the motor(s).
+        //
+        repeated Motor motor = 4;
 
         //
         // \brief A description for the positions of the pedals.
@@ -156,6 +177,52 @@ message HostVehicleDataClass
             //
             optional double pedal_position_clutch = 3;
         }
+        
+        //
+        // \brief A description for the positions of the pedals.
+        //
+        message Motor
+        {
+            // The type of the motor.
+            //
+            optional Type type = 1;
+            
+            // Rounds per minute of the engine. RPM can be from E-Motor/ Engine.
+            //
+            // Unit: 1/min
+            //
+            optional double rpm = 2;
+
+            // Torque in Nm. It can either be from Engine/E-Motor or combined Torque values.
+            //
+            // Unit: N*m
+            //
+            optional double torque = 3;
+            
+            // Definition which type of motor is used.
+            //
+            enum Type
+            {
+                // The powertrain mode is unknown.
+                //
+                TYPE_UNKNOWN = 0;
+
+                // It is another powertrain mode.
+                //
+                TYPE_OTHER = 1;
+
+                // A motor working after the principle of Nicolaus Otto.
+                //
+                TYPE_OTTO = 2;
+                
+                // A motor working after the principle of Rudolf Diesel.
+                //
+                TYPE_DIESEL = 3;
+                
+                // A motor working electric.
+                //
+                TYPE_ELEKTRIC = 4;
+            }
     }
 
     //
@@ -200,9 +267,19 @@ message HostVehicleDataClass
         //
         message Wheel
         {
-            // Information about how the wheel is arranged.
+            // The axle which contains this wheel.  A value of 0 represents the
+            // front-most axle of the vehicle with higher numbers incrementing
+            // towards the rear-most axle.
+            //
+            optional uint32 axle = 1;
+
+            // The index of the wheel on the axle, counting in the direction
+            // of positive-y, i.e. right-to-left.
+            //
+            // For example, on a standard 2-axle, 4-wheel car, the rear-right
+            // wheel would be (axle=1, index=0).
             //
-            optional Arrangement arrangement = 1;
+            optional uint32 index = 2;
 
             // Dry friction is a force that opposes the relative lateral motion of two solid surfaces 
             // in contact. It is subdivided into static friction between non-moving surfaces and kinetic
@@ -215,34 +292,20 @@ message HostVehicleDataClass
             // \par References:
             // - http://adaptivemap.ma.psu.edu/websites/6_friction/dry_friction/dryfriction.html
             //
-            optional double kinetic_friction_coefficient = 2;
+            optional double kinetic_friction_coefficient = 3;
 
             // Contact point of the mid of the tire tread with the world.
             // Absolute coordinates (x, y, z).
             //
             // Unit: m
             //
-            optional Vector3d contact_point = 3;
+            optional Vector3d contact_point = 4;
 
             // Contains the rotational speed of each wheel per second.
             //
             // Unit: rad/s
             //
-            optional double rotational_speed = 4;
-
-            // Contains the steering angle of each wheel.
-            // Right < 0; 0 = straight; 0 < left.
-            //
-            // Unit: rad
-            //
-            optional double steering_angle = 5;
-
-            // Contains the relativ position of the center of the wheel to the center of the bounding-box.
-            // Possibility to get the spring deflection and the camber (https://en.wikipedia.org/wiki/Camber_angle).
-            //
-            // Unit: m
-            //
-            optional MountingPosition position = 6;
+            optional double rotational_speed = 5;
 
             // Contains the longitudinal slip of the tire.
             // \par References:
@@ -250,37 +313,7 @@ message HostVehicleDataClass
             //
             // Unit: %
             //
-            optional double slip = 7;
-
-            // Information about how the wheel is arranged.
-            //
-            enum Arrangement
-            {
-                // The description is about a wheel that has an unknown arrangement.
-                //
-                ARRANGEMENT_UNKNOWN = 0;
-
-                // The description is about a wheel that has another arrangement (e.g. more than four wheels).
-                //
-                ARRANGEMENT_OTHER = 1;
-
-                // Arragement of the wheels in counter clock-wise direction starting from front-left wheel.
-                // The description is about the front-left wheel.
-                //
-                ARRANGEMENT_FRONT_LEFT = 2;
-
-                // The description is about the rear-left wheel.
-                //
-                ARRANGEMENT_REAR_LEFT = 3;
-
-                // The description is about the rear-right wheel.
-                //
-                ARRANGEMENT_FRONT_RIGHT = 4;
-
-                // The description is about the front-right wheel.
-                //
-                ARRANGEMENT_REAR_RIGHT = 5;
-            }
+            optional double slip = 6;
         }
     }
 
@@ -292,16 +325,17 @@ message HostVehicleDataClass
         //
         // \brief This message contains information about the vehicle's knowledge about its own cartesian position.
         //
-        message CartesianPosition
+        message CartesianInformation
         {
             // To be discussed.
-            //
+            // xyz, pitch,roll,yaw., velocities, accelerations, one level higher
+            optional BaseMoving cartesian_data
         }
 
         //
         // \brief This message contains information about the vehicle's georeferenced positioning solution component.
         //
-        message GeoreferencedPosition
+        message GeoreferencedInformation
         {
             // Longitude in decimal degrees regarding WGS84.
             //
@@ -321,7 +355,7 @@ message HostVehicleDataClass
             //
             optional double altitude = 3;
 
-            // To be discussed: 
+            // To be discussed as it is in CartesianInformation. 
             // Heading in decimal degrees.
             //
             // Unit: Degree

From 77e8334749681907fce8729df7409cf3efbd5e2e Mon Sep 17 00:00:00 2001
From: Thomas Nader <thomas.nader@bmw.de>
Date: Thu, 10 Sep 2020 17:40:24 +0200
Subject: [PATCH 08/12] Update osi_hostvehicledata.proto

---
 osi_hostvehicledata.proto | 81 +++++++++++++--------------------------
 1 file changed, 26 insertions(+), 55 deletions(-)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index 774f2efbc..241cb4253 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -8,14 +8,17 @@ import "osi_object.proto";
 
 package osi3;
 
+// \brief The vehicle-class is about the non-perceivable information, that is measured or 
+// calculated and transported by the board net. 
+// A dynamic model can serve as input provider.
+// Sensors, mockups or other modules can make usage of the host vehicle data.
+// It consists of different messages categorizing the vehicle in:
+// Vehicle-Basics, Vehicle-Powermanagement, Vehicle-Powertrain, Vehicle-SteeringWheel, Vehicle-Wheels, Vehicle-Localization.
 //
-// \brief Interface for updating internal states of host vehicle data to simulation environment. 
-// Sensors, mockups and other functions can access the host vehicle data.
-// A Usecase like simulation of vehicle model is also possible by extending the OSI with host vehicle data.
-
 // \image html OSI_HostVehicle.svg
 //
 // All coordinates and orientations are relative to the global ground truth coordinate system.
+// Otherwise it is mentioned explicitly.
 //
 message HostVehicleData
 {
@@ -33,75 +36,38 @@ message HostVehicleData
     // \note Note that dimension and base_polygon need not be set.
     //
     optional BaseMoving location_rmse = 2;
-    
-    // The interface version used by the sender (i.e. the simulation
-    // environment).
-    //
-    optional InterfaceVersion version = 3;
-
-    // The data timestamp of the simulation environment. The zero time point is
-    // arbitrary but must be identical for all messages.
-    // Recommendation: Zero time point for start point of the simulation.
-    //
-    // \note Zero time point does not need to coincide with the UNIX epoch.
-    //
-    // \note For ground truth data this timestamp coincides both with the
-    // notional simulation time the data applies to and the time it was sent
-    // (there is no inherent latency for ground truth data, as opposed to
-    // sensor data).
-    //
-    optional Timestamp timestamp = 4;
-
-    // Contains all the perceivable information.
-    //
-    optional MovingObject moving_object = 5;
 
-    // Contains all the non-perceivable information, that is measured or 
-    // calculated and transported by the board net.
-    //
-    optional HostVehicleDataClass host_vehicle_data = 6;
-}
-
-//
-// \brief The vehicle-class is about the non-perceivable information, that is measured or 
-// calculated and transported by the board net.
-// It consists of different messages categorizing the vehicle in:
-// Vehicle-Basics, Vehicle-Powermanagement, Vehicle-Powertrain, Vehicle-SteeringWheel, Vehicle-Wheels, Vehicle-Localization.
-// As it is an description of the whole vehicle (focus on cars) it can be used as interface for various reasons. 
-//
-message HostVehicleDataClass
-{
-    // The ID of the object.
+    // The ID of the object. Can be discussed.
     //
     // \rules
     // is_globally_unique
     // \endrules
     //
-    optional Identifier id = 1;
+    optional Identifier id = 3;
     
     // The basic parameters of the vehicle.
     //
-    optional VehicleBasics vehicle_basics = 2;
+    optional VehicleBasics vehicle_basics = 4;
 
     // Interface regarding the powermanagement.
     //
-    optional VehiclePowermanagement vehicle_powermanagement = 3;
+    optional VehiclePowermanagement vehicle_powermanagement = 5;
 
     // Interface regarding the powertrain.
     //
-    optional VehiclePowertrain vehicle_powertrain = 4;
+    optional VehiclePowertrain vehicle_powertrain = 6;
 
     // Interface regarding the steering wheel.
     //
-    optional VehicleSteeringWheel vehicle_steering_wheel = 5;
+    optional VehicleSteeringWheel vehicle_steering_wheel = 7;
 
     // Interface regarding the wheels.
     //
-    optional VehicleWheels vehicle_wheels = 6;
+    optional VehicleWheels vehicle_wheels = 8;
 
     // Interface regarding the navigation.
     //
-    optional VehicleLocalization vehicle_localization = 7;
+    optional VehicleLocalization vehicle_localization = 9;
 
     //
     // \brief The absolute base parameters of the vehicle.
@@ -292,20 +258,20 @@ message HostVehicleDataClass
             // \par References:
             // - http://adaptivemap.ma.psu.edu/websites/6_friction/dry_friction/dryfriction.html
             //
-            optional double kinetic_friction_coefficient = 3;
+            //optional double kinetic_friction_coefficient = 3;
 
             // Contact point of the mid of the tire tread with the world.
             // Absolute coordinates (x, y, z).
             //
             // Unit: m
             //
-            optional Vector3d contact_point = 4;
+            //optional Vector3d contact_point = 4;
 
             // Contains the rotational speed of each wheel per second.
             //
             // Unit: rad/s
             //
-            optional double rotational_speed = 5;
+            //optional double rotational_speed = 5;
 
             // Contains the longitudinal slip of the tire.
             // \par References:
@@ -318,9 +284,10 @@ message HostVehicleDataClass
     }
 
     //
-    // \brief This message contains all the necessary information of the localization solution.
+    // \brief This message contains all the information the vehicle knows about its kinematic states.
+    // Usually
     //
-    message VehicleLocalization
+    message VehicleKinematics
     {
         //
         // \brief This message contains information about the vehicle's knowledge about its own cartesian position.
@@ -329,7 +296,11 @@ message HostVehicleDataClass
         {
             // To be discussed.
             // xyz, pitch,roll,yaw., velocities, accelerations, one level higher
-            optional BaseMoving cartesian_data
+            optional BaseMoving cartesian_data = 1;
+            
+            // To be discussed.
+            // xyz, pitch,roll,yaw., velocities, accelerations, one level higher
+            optional BaseMoving cartesian_data_rmse
         }
 
         //

From ba23eb6aaf8af98509033c9f8c7c78a8ad4a8b80 Mon Sep 17 00:00:00 2001
From: Thomas Nader <thomas.nader@bmw.de>
Date: Fri, 11 Sep 2020 11:44:02 +0200
Subject: [PATCH 09/12] Update osi_hostvehicledata.proto

---
 osi_hostvehicledata.proto | 28 ++++++++++++++++------------
 1 file changed, 16 insertions(+), 12 deletions(-)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index 241cb4253..40967c5d4 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -44,7 +44,7 @@ message HostVehicleData
     // \endrules
     //
     optional Identifier id = 3;
-    
+
     // The basic parameters of the vehicle.
     //
     optional VehicleBasics vehicle_basics = 4;
@@ -267,11 +267,12 @@ message HostVehicleData
             //
             //optional Vector3d contact_point = 4;
 
-            // Contains the rotational speed of each wheel per second.
+            // Contains the rotation rate of the wheel per second in radians.
+            // Based on the processed output of the hall sensor at the wheel.
             //
             // Unit: rad/s
             //
-            //optional double rotational_speed = 5;
+            optional double rotation_rate = 5;
 
             // Contains the longitudinal slip of the tire.
             // \par References:
@@ -285,26 +286,29 @@ message HostVehicleData
 
     //
     // \brief This message contains all the information the vehicle knows about its kinematic states.
-    // Usually
     //
     message VehicleKinematics
     {
         //
-        // \brief This message contains information about the vehicle's knowledge about its own cartesian position.
+        // \brief Current kinematic data based on the output of the Intertial Measurement Unit (IMU).
         //
         message CartesianInformation
         {
-            // To be discussed.
-            // xyz, pitch,roll,yaw., velocities, accelerations, one level higher
+            // Current kinematic data based on the output of the Intertial Measurement Unit (IMU).
+            //
+            // \note Note that dimension and base_polygon need not be set.
+            //
             optional BaseMoving cartesian_data = 1;
-            
-            // To be discussed.
-            // xyz, pitch,roll,yaw., velocities, accelerations, one level higher
-            optional BaseMoving cartesian_data_rmse
+
+            // Current kinematic data error based on the output of the Intertial Measurement Unit (IMU).
+            //
+            // \note Note that dimension and base_polygon need not be set.
+            //
+            optional BaseMoving cartesian_data_rmse = 2;
         }
 
         //
-        // \brief This message contains information about the vehicle's georeferenced positioning solution component.
+        // \brief Current estimated location based on the output of the GPS-Unit.
         //
         message GeoreferencedInformation
         {

From 931a22aeaf941e68ea11fbf57758c95d3118d722 Mon Sep 17 00:00:00 2001
From: Thomas Nader <thomas.nader@bmw.de>
Date: Mon, 14 Sep 2020 14:54:00 +0200
Subject: [PATCH 10/12] Update osi_hostvehicledata.proto

---
 osi_hostvehicledata.proto | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index 40967c5d4..7475a716f 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -8,8 +8,9 @@ import "osi_object.proto";
 
 package osi3;
 
-// \brief The vehicle-class is about the non-perceivable information, that is measured or 
-// calculated and transported by the board net. 
+// \brief Host vehicle data is about the perception of the vehicle about it's own, internal states.
+// It describes data that the host vehicle knows about itself,
+// e.g. from location sensors, internal sensors, board net etc.
 // A dynamic model can serve as input provider.
 // Sensors, mockups or other modules can make usage of the host vehicle data.
 // It consists of different messages categorizing the vehicle in:

From 80c5752a5e2fc7b25c922efbd5ac8b8dc23c878e Mon Sep 17 00:00:00 2001
From: Thomas Nader <thomas.nader@bmw.de>
Date: Fri, 6 Nov 2020 16:42:26 +0100
Subject: [PATCH 11/12] Update osi_hostvehicledata.proto

---
 osi_hostvehicledata.proto | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index 7475a716f..dff91b4dd 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -188,8 +188,9 @@ message HostVehicleData
                 
                 // A motor working electric.
                 //
-                TYPE_ELEKTRIC = 4;
+                TYPE_ELECTRIC = 4;
             }
+        }
     }
 
     //

From 8ee3f52187843e7b9d3f5a7f45408dc37ce4f824 Mon Sep 17 00:00:00 2001
From: Thomas Nader <thomas.nader@bmw.de>
Date: Fri, 6 Nov 2020 17:01:34 +0100
Subject: [PATCH 12/12] Update osi_hostvehicledata.proto

---
 osi_hostvehicledata.proto | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/osi_hostvehicledata.proto b/osi_hostvehicledata.proto
index dff91b4dd..f0d19a5c3 100644
--- a/osi_hostvehicledata.proto
+++ b/osi_hostvehicledata.proto
@@ -68,7 +68,7 @@ message HostVehicleData
 
     // Interface regarding the navigation.
     //
-    optional VehicleLocalization vehicle_localization = 9;
+    optional VehiclePositionAndKinematics vehicle_position_and_kinematics = 9;
 
     //
     // \brief The absolute base parameters of the vehicle.
@@ -289,7 +289,7 @@ message HostVehicleData
     //
     // \brief This message contains all the information the vehicle knows about its kinematic states.
     //
-    message VehicleKinematics
+    message VehiclePositionAndKinematics
     {
         //
         // \brief Current kinematic data based on the output of the Intertial Measurement Unit (IMU).