Merge branch '56-update-to-osi-3-3-1' into 'develop'

Resolve "Update to OSI 3.3.1"

See merge request !35

cmake/FindOSI.cmake

@@ -26,6 +26,7 @@ FIND_PATH(OSI_INCLUDE_DIR "osi3/osi_version.pb.h"
   $ENV{EXTERNLIBS}/OSI/include
   /usr/local/include
   /usr/include
+  PATH_SUFFIXES include
    DOC "OSI - Headers"
 )
 

sim/src/components/Algorithm_FmuWrapper/CMakeLists.txt

@@ -40,11 +40,13 @@ add_openpass_target(
     ${FMILibrary_INCLUDE_DIR}/JM
     src/FmiImporter/include
     ../../core/opSimulation/modules/World_OSI
+    ${OSI_INCLUDE_DIR}
 
   LIBRARIES
     Qt5::Core
     ${FMILibrary_LIBRARY_DIR}
     Common
-
-  LINKOSI
+    CoreCommon
+    protobuf::libprotobuf
+    -L${OSI_INCLUDE_DIR}/../lib/osi3 open_simulation_interface_pic
 )

sim/src/components/Algorithm_FmuWrapper/src/OsmpFmuHandler.cpp

@@ -409,15 +409,22 @@ void OsmpFmuHandler::UpdateOutput(int localLinkId, std::shared_ptr<SignalInterfa
         }
         else if (trafficUpdateVariable.has_value())
         {
-            const auto& baseMoving = trafficUpdate.mutable_update()->mutable_base();
-            velocity = std::sqrt(baseMoving->velocity().x() * baseMoving->velocity().x() + baseMoving->velocity().y() * baseMoving->velocity().y());
-            yaw = baseMoving->orientation().yaw();
-            roll = baseMoving->orientation().roll();
-            acceleration = baseMoving->acceleration().x() * std::cos(yaw) + baseMoving->acceleration().y() * std::sin(yaw);
-            centripetalAcceleration = -baseMoving->acceleration().x() * std::sin(yaw) + baseMoving->acceleration().y() * std::cos(yaw);
-            positionX = baseMoving->position().x() - bb_center_offset_x * std::cos(yaw);
-            positionY = baseMoving->position().y() - bb_center_offset_x * std::sin(yaw);
-            yawRate = baseMoving->orientation_rate().yaw();
+            if (trafficUpdate.update_size() > 0)
+            {
+                const auto& baseMoving = trafficUpdate.mutable_update(0)->mutable_base();
+                velocity = std::sqrt(baseMoving->velocity().x() * baseMoving->velocity().x() + baseMoving->velocity().y() * baseMoving->velocity().y());
+                yaw = baseMoving->orientation().yaw();
+                roll = baseMoving->orientation().roll();
+                acceleration = baseMoving->acceleration().x() * std::cos(yaw) + baseMoving->acceleration().y() * std::sin(yaw);
+                centripetalAcceleration = -baseMoving->acceleration().x() * std::sin(yaw) + baseMoving->acceleration().y() * std::cos(yaw);
+                positionX = baseMoving->position().x() - bb_center_offset_x * std::cos(yaw);
+                positionY = baseMoving->position().y() - bb_center_offset_x * std::sin(yaw);
+                yawRate = baseMoving->orientation_rate().yaw();
+            }
+            else
+            {
+                LOGWARN(log_prefix(agentIdString) + "Received empty TrafficUpdate message");
+            }
         }
         else
         {

sim/tests/unitTests/components/Algorithm_FmuWrapper/CMakeLists.txt

@@ -13,7 +13,6 @@ set(COMPONENT_SOURCE_DIR ${OPENPASS_SIMCORE_DIR}/components/Algorithm_FmuWrapper
 add_openpass_target(
   NAME ${COMPONENT_TEST_NAME} TYPE test COMPONENT module
   DEFAULT_MAIN
-  LINKOSI
 
   SOURCES
     OsmpFmuUnitTests.cpp
@@ -39,10 +38,13 @@ add_openpass_target(
     ${FMILibrary_INCLUDE_DIR}/FMI1
     ${FMILibrary_INCLUDE_DIR}/FMI2
     ${FMILibrary_INCLUDE_DIR}/JM
+    ${OSI_INCLUDE_DIR}
 
   LIBRARIES
     Qt5::Core
     Common
     ${FMILibrary_LIBRARY_DIR}
+    protobuf::libprotobuf
+    -L${OSI_INCLUDE_DIR}/../lib/osi3 open_simulation_interface_pic
 )